Vehicle steering method and system, and electronic device, storage medium and vehicle

Abstract

A vehicle steering method and system, and an electronic device, a storage medium and a vehicle. The method comprises: first, decoupling a target wheel (61) in a first coaxial wheel set of a vehicle from a first axle of the first coaxial wheel set, such that the rotational motion of the first axle and the rotational motion of the target wheel (61) are independent of each other; and then, driving wheels, other than the target wheel (61), of the vehicle, so as to realize the steering of the vehicle by using a tank-type in-place turning method. Therefore, the adaptability of vehicle steering to a limited space is improved.

Description

Steering method, system, electronic device, storage medium and vehicle of vehicle

[0001] This application claims priority to Chinese Patent Application No. 202410950767.4, filed on July 15, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of vehicle steering, and in particular to a steering method, system, electronic device, storage medium and vehicle of vehicle. BACKGROUND

[0003] The design and performance of vehicle steering are crucial to the overall handling, stability and safety of the vehicle. With the development of vehicle steering technology, modern vehicles increasingly use electronic control systems to improve the accuracy and responsiveness of steering. SUMMARY

[0004] The present disclosure provides a steering method, system, electronic device, storage medium and vehicle of vehicle to solve the problem that vehicle steering is limited due to limited environmental space in the related art.

[0005] In a first aspect, a steering method of a vehicle is provided, the method comprising:

[0006] decoupling a target wheel in a first set of coaxial wheels of the vehicle from a first axle of the first set of coaxial wheels, such that the rotational motion of the first axle and the rotational motion of the target wheel are independent of each other;

[0007] steering the vehicle by driving wheels of the vehicle other than the target wheel.

[0008] In some embodiments, the steering the vehicle by driving wheels of the vehicle other than the target wheel comprises:

[0009] driving other wheels in the first set of coaxial wheels other than the target wheel through the first axle, such that the other wheels are in a forward or reverse working condition, and driving each wheel in a second set of coaxial wheels of the vehicle through a second axle of the second set of coaxial wheels, such that each wheel in the second set of coaxial wheels is in a working condition opposite to the other wheels, to achieve steering of the vehicle.

[0010] In some embodiments, the driving, by the first axle, the other wheels in the first coaxial wheel set except the target wheel, so that the other wheels are in a forward or reverse working condition, and the driving, by the second axle of the second coaxial wheel set of the vehicle, each wheel in the second coaxial wheel set, so that each wheel in the second coaxial wheel set is in a working condition opposite to the other wheels, comprises:

[0011] In the case of meeting at least one of the following conditions: each wheel in the first coaxial wheel set is steered, or each wheel in the second coaxial wheel set is steered, the driving, by the first axle, the other wheels in the first coaxial wheel set, so that the other wheels are in a forward or reverse working condition, and the driving, by the second axle, each wheel in the second coaxial wheel set, so that each wheel in the second coaxial wheel set is in a working condition opposite to the other wheels.

[0012] In some embodiments, the target wheel and the other wheels are front wheels of the vehicle, and the first axle is a front axle of the vehicle; each wheel in the second coaxial wheel set is a rear wheel of the vehicle, and the second axle is a rear axle of the vehicle.

[0013] Or,

[0014] The target wheel and the other wheels are rear wheels of the vehicle, and the first axle is a rear axle of the vehicle; each wheel in the second coaxial wheel set is a front wheel of the vehicle, and the second axle is a front axle of the vehicle.

[0015] In some embodiments, the method further comprises:

[0016] In response to a steering request of the vehicle, in the case that the vehicle meets a preset steering condition, obtaining a desired yaw angular acceleration of the vehicle according to an initial yaw angular velocity and a desired yaw angular velocity of the vehicle;

[0017] According to the desired yaw angular acceleration, obtaining a desired yaw total moment of the vehicle; the desired yaw total moment is positively correlated with the desired yaw angular acceleration;

[0018] According to the desired yaw total moment, obtaining a first torque for driving the other wheels and a second torque for driving the wheels in the second coaxial wheel set.

[0019] In some embodiments, the driving, by the first axle, the other wheels in the first coaxial wheel set except the target wheel, so that the other wheels are in a forward or reverse working condition, and the driving, by a second axle of a second coaxial wheel set of the vehicle, each wheel in the second coaxial wheel set, so that each wheel in the second coaxial wheel set is in a working condition opposite to the other wheels, comprises:

[0020] According to the first torque, the other wheels are driven by the first axle, so that the other wheels are in a forward or reverse working condition, and according to the second torque, each wheel in the second coaxial wheel set is driven by the second axle, so that each wheel in the second coaxial wheel set is in a working condition opposite to the other wheels.

[0021] In some embodiments, the method further comprises:

[0022] In a case where the vehicle speed of the vehicle is less than a first vehicle speed threshold, and the torque of the vehicle driving the other wheels is less than a first torque threshold, the torque of the vehicle driving the wheels in the second coaxial wheel set is less than a second torque threshold, the differential lock of the first coaxial wheel set is in a locked state, the wheel end decoupler of the target wheel is in a decoupled state, the vehicle is in a four-wheel drive mode, the brake pedal of the vehicle is in an unpressed state, and the transmission of the vehicle is in a drive gear, it is determined that the vehicle meets a preset steering condition.

[0023] In some embodiments, before the driving, by driving the wheels of the vehicle except the target wheel, to realize the steering of the vehicle, the method further comprises:

[0024] Braking operation is performed on the target wheel.

[0025] In some embodiments, before the driving, by driving the wheels of the vehicle except the target wheel, to realize the steering of the vehicle, the method further comprises:

[0026] The differential lock of the first coaxial wheel set is locked.

[0027] In some embodiments, the method further comprises:

[0028] In a case where the driving, by driving the wheels of the vehicle except the target wheel, to realize the steering of the vehicle, a safety detection result of the vehicle is determined according to a difference between a target operating parameter of the vehicle and a parameter threshold;

[0029] In a case where the safety detection result of the vehicle is dangerous, the vehicle is controlled to stop steering.

[0030] In some embodiments, the determining the safety detection result of the vehicle according to the difference between the target operating parameter of the vehicle and the parameter threshold comprises:

[0031] In a case where the vehicle speed of the vehicle is greater than a second vehicle speed threshold, or the yaw angular velocity of the vehicle is greater than an angular velocity threshold, determining that the safety detection result of the vehicle is dangerous;

[0032] In a case where the yaw angular acceleration of the vehicle is greater than an angular acceleration threshold, and a duration for which the yaw angular acceleration of the vehicle is greater than the angular acceleration threshold is greater than a first duration threshold, determining that the safety detection result of the vehicle is dangerous;

[0033] In a case where the longitudinal acceleration of the vehicle is greater than a longitudinal acceleration threshold, and a duration for which the longitudinal acceleration of the vehicle is greater than the longitudinal acceleration threshold is greater than a second duration threshold, determining that the safety detection result of the vehicle is dangerous;

[0034] In a case where the steering wheel angle of the vehicle is greater than an angle threshold, and a duration for which the steering wheel angle of the vehicle is greater than the angle threshold is greater than a third duration threshold, determining that the safety detection result of the vehicle is dangerous.

[0035] In some embodiments, the determining the safety detection result of the vehicle according to the difference between the target operating parameter of the vehicle and the parameter threshold comprises:

[0036] In a case where the steering wheel rotation speed of the vehicle is greater than a rotation speed threshold, and a duration for which the steering wheel rotation speed of the vehicle is greater than the rotation speed threshold is greater than a fourth duration threshold, determining that the safety detection result of the vehicle is dangerous;

[0037] In a case where the torque of the vehicle for driving the other wheels of the first coaxial wheel set except the target wheel is greater than a third torque threshold, and a duration for which the torque of the vehicle for driving the other wheels is greater than the third torque threshold is greater than a fifth duration threshold, determining that the safety detection result of the vehicle is dangerous;

[0038] In a case where the torque of the vehicle for driving the wheels of the second coaxial wheel set is greater than a fourth torque threshold, and a duration for which the torque of the vehicle for driving the wheels of the second coaxial wheel set is greater than the fourth torque threshold is greater than a sixth duration threshold, determining that the safety detection result of the vehicle is dangerous.

[0039] In some embodiments, the method further comprises:

[0040] In the case that one of the following conditions is met, it is determined that the vehicle meets a steering exit condition, and the vehicle is controlled to stop steering; the gearbox of the vehicle exits a drive gear; the vehicle exits a four-wheel drive mode; the brake pedal of the vehicle is in a pressed state; the accelerator pedal of the vehicle is in an unpressed state; the vehicle completes adjustment of a desired angle; the differential lock of the first coaxial wheel set is in an unlocked state, or the wheel end decoupler of the target wheel is in an un-decoupled state.

[0041] In a second aspect, a steering system of a vehicle is provided, comprising a controller of the vehicle, a differential lock of a first coaxial wheel set of the vehicle, and a wheel end decoupler of a target wheel in the first coaxial wheel set.

[0042] The controller is configured to: in response to a steering request of the vehicle, control the differential lock of the first coaxial wheel set to be locked to close the differential of the first coaxial wheel set, and control the wheel end decoupler to decouple the target wheel from a first axle of the first coaxial wheel set, so that the rotational motion of the first axle and the rotational motion of the target wheel are independent of each other, then drive the other wheels of the first coaxial wheel set except the target wheel through the first axle, so that the other wheels are in a forward or reverse working condition, and drive each wheel of a second coaxial wheel set of the vehicle through a second axle of the second coaxial wheel set, so that each wheel of the second coaxial wheel set is in a working condition opposite to that of the other wheels, to realize steering of the vehicle.

[0043] In a third aspect, an electronic device is provided, comprising a processor, a communication interface, a memory and a communication bus; the processor, the communication interface and the memory complete communication with each other through the communication bus.

[0044] The memory is configured to store a computer program.

[0045] The processor is configured to, when executing the program stored on the memory, implement the steering method of the vehicle of the first aspect.

[0046] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program, and the program is executed by a processor to implement the steering method of the vehicle of the first aspect.

[0047] In a fifth aspect, a vehicle is provided, comprising the steering system of the vehicle.

[0048] In some embodiments, the vehicle further comprises a driving device, a first coaxial wheel set, a second coaxial wheel set, a first axle of the first coaxial wheel set, and a second axle of the second coaxial wheel set.

[0049] The first coaxial wheel set is provided with a differential; the driving device is a driving device coupled by an engine and a motor, or a motor driving device;

[0050] The driving device is configured to drive the wheels in the first coaxial wheel set through the first axle, and drive the wheels in the second coaxial wheel set through the second axle.

[0051] In summary, in some embodiments of the present disclosure, the target wheel in the first coaxial wheel set of the vehicle is first decoupled from the first axle of the first coaxial wheel set, so that the rotational motion of the first axle and the rotational motion of the target wheel are independent of each other, and then the wheels other than the target wheel of the vehicle are driven to realize the steering of the vehicle in the manner of tank-type U-turn, thereby improving the adaptability of vehicle steering to limited space and improving the steering ability of the vehicle.

[0052] The above description is only a summary of the technical solutions of the present disclosure, in order to more clearly understand the technical means of the present disclosure, the content of the specification can be implemented, and in order to make the above and other purposes, features and advantages of the present disclosure more obvious and easy to understand, the specific implementation of the present disclosure will be described in detail below. DETAILED DESCRIPTION BRIEF DESCRIPTION OF DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in some embodiments of the present disclosure or related technical solutions, the drawings needed in the embodiment description will be briefly introduced below.

[0054] FIG. 1 is a flowchart of a steering method of a vehicle according to some embodiments of the present disclosure;

[0055] FIG. 2 is a flowchart of another steering method of a vehicle according to some embodiments of the present disclosure;

[0056] FIG. 3 is a schematic diagram of a vehicle according to some embodiments of the present disclosure;

[0057] FIG. 4 is a schematic diagram of the steering of a vehicle according to some embodiments of the present disclosure;

[0058] FIG. 5 is a schematic diagram of the steering of another vehicle according to some embodiments of the present disclosure;

[0059] FIG. 6 is a schematic diagram of the desired yaw angular acceleration and the desired yaw total torque according to some embodiments of the present disclosure;

[0060] FIG. 7 is a flowchart of the steering of a vehicle according to some embodiments of the present disclosure;

[0061] FIG. 8 is a schematic diagram of a steering device of a vehicle according to some embodiments of the present disclosure;

[0062] FIG. 9 is a block diagram of an electronic device according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0063] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood, and so that the scope of the present disclosure can be completely conveyed to those skilled in the art.

[0064] In the related art, during use of a vehicle, a user often encounters a limited space environment, and the use of a conventional vehicle steering method limits the steering of the vehicle.

[0065] To solve the above problem, some embodiments of the present disclosure provide a steering method of a vehicle.

[0066] FIG. 1 is a flowchart of a steering method of a vehicle according to some embodiments of the present disclosure, the method comprising steps 101-102:

[0067] In step 101, a target wheel in a first same-axle wheel set of a vehicle is decoupled from a first axle of the first same-axle wheel set, so that the rotational motion of the first axle and the rotational motion of the target wheel are independent of each other.

[0068] In this step, by decoupling the target wheel in the first same-axle wheel set of the vehicle from the first axle of the first same-axle wheel set, the first axle does not drive the target wheel to rotate in the case that the other wheels in the first same-axle wheel set are driven by the first axle except the target wheel, so that the other wheels are in the forward or reverse working condition.

[0069] It should be noted that the wheels in the first same-axle wheel set are the wheels on the first axle, and the wheels in the first same-axle wheel set include the left and right wheels on the first axle, and the first axle is the front axle or the rear axle of the vehicle, and the target wheel is the left or right wheel on the first axle.

[0070] The type of the vehicle includes hybrid four-wheel drive, pure electric four-wheel drive, etc.

[0071] In step 102, the vehicle is steered by driving the wheels of the vehicle except the target wheel.

[0072] In this step, by driving the wheels of the vehicle except the target wheel, the vehicle is steered in the way of tank-type U-turn, improving the adaptability of the vehicle steering to limited space.

[0073] It should be noted that the tank type original place turns around, that is, the tank turns around, is to turn around in the original place like a tank, and the tank type original place turns around can make the vehicle turn around in the original place, greatly reduce the turning radius, and make the turning more flexible.

[0074] The target wheel can be a left wheel or a right wheel on the first axle of the vehicle.

[0075] In summary, in some embodiments of the present disclosure, the target wheel in the first coaxial wheel set of the vehicle is first decoupled from the first axle of the first coaxial wheel set, so that the rotational motion of the first axle and the rotational motion of the target wheel are independent of each other, and then the wheels other than the target wheel of the vehicle are driven to realize the turning of the vehicle in the tank type original place, thereby improving the adaptability of the vehicle turning to limited space and improving the turning ability of the vehicle.

[0076] FIG. 2 is a flowchart of a turning method of another vehicle according to some embodiments of the present disclosure. Referring to FIG. 2, the method can include steps 201 to 203 as follows.

[0077] In step 201, the differential lock of the first coaxial wheel set of the vehicle is locked.

[0078] In this step, by locking the differential lock of the first coaxial wheel set of the vehicle, the differential of the first coaxial wheel set is closed, so that the differential of the first coaxial wheel set does not work, thereby enabling the first axle to normally drive the target wheel to rotate.

[0079] In step 202, the target wheel in the first coaxial wheel set of the vehicle is decoupled from the first axle of the first coaxial wheel set, so that the rotational motion of the first axle and the rotational motion of the target wheel are independent of each other.

[0080] The method of decoupling the target wheel in the first coaxial wheel set of the vehicle from the first axle of the first coaxial wheel set has been described in step 101, and will not be repeated here.

[0081] In some embodiments, step 202 includes sub-step 2021 as follows.

[0082] In sub-step 2021, the target wheel is decoupled from the first axle by a wheel end decoupler of the target wheel.

[0083] In this sub-step, the target wheel is decoupled from the first axle by the wheel end decoupler of the target wheel, so that when the other wheels in the first coaxial wheel set other than the target wheel are driven by the first axle, the other wheels are in the forward or reverse working condition, and the first axle does not drive the target wheel to rotate.

[0084] In step 203, the other wheels in the first coaxial wheel set except the target wheel are driven by the first axle, so that the other wheels are in the forward or reverse working condition, and each wheel in the second coaxial wheel set of the second axle of the vehicle is driven, so that each wheel in the second coaxial wheel set is in the opposite working condition of the other wheels, so as to realize the steering of the vehicle.

[0085] In this step, the other wheels in the first coaxial wheel set except the target wheel are driven by the first axle, so that the other wheels are in the forward or reverse working condition, and each wheel in the second coaxial wheel set of the second axle of the vehicle is driven, so that each wheel in the second coaxial wheel set is in the opposite working condition of the other wheels, so as to realize the steering of the vehicle.

[0086] It should be noted that, in the case that the target wheel is the left wheel on the first axle, the other wheel is the right wheel on the first axle; in the case that the target wheel is the right wheel on the first axle, the other wheel is the left wheel on the first axle.

[0087] The wheels in the second coaxial wheel set are the wheels on the second axle, and the wheels in the second coaxial wheel set include the left wheel and the right wheel on the second axle.

[0088] In the case that the first axle is the front axle of the vehicle, the second axle is the rear axle of the vehicle; in the case that the first axle is the rear axle of the vehicle, the second axle is the front axle of the vehicle.

[0089] The wheels are in the forward working condition, i.e. the wheels are rotating forward, in the case that all the wheels of the vehicle are in the forward working condition, the vehicle is moving forward; the wheels are in the reverse working condition, i.e. the wheels are rotating backward, in the case that all the wheels of the vehicle are in the reverse working condition, the vehicle is moving backward.

[0090] In the case that the other wheels are in the forward working condition, each wheel in the second coaxial wheel set is in the reverse working condition; in the case that the other wheels are in the reverse working condition, each wheel in the second coaxial wheel set is in the forward working condition.

[0091] In some embodiments, the target wheel and the other wheel are both front wheels of the vehicle, and the first axle is the front axle of the vehicle; each wheel in the second coaxial wheel set is a rear wheel of the vehicle, and the second axle is the rear axle of the vehicle; or: the target wheel and the other wheel are both rear wheels of the vehicle, and the first axle is the rear axle of the vehicle; each wheel in the second coaxial wheel set is a front wheel of the vehicle, and the second axle is the front axle of the vehicle.

[0092] In some embodiments, the first axle is a front axle of the vehicle, the wheels in the first coaxial wheel set are wheels on the front axle of the vehicle, the other wheel is a right wheel (right front wheel) on the front axle of the vehicle in the case that the target wheel is a left wheel (left front wheel) on the front axle of the vehicle, the other wheel is a left wheel on the front axle of the vehicle in the case that the target wheel is a right wheel on the front axle of the vehicle; the second axle is a rear axle of the vehicle, each wheel in the second coaxial wheel set is a wheel on the rear axle of the vehicle, the wheels in the second coaxial wheel set include a left rear wheel and a right rear wheel.

[0093] In some other embodiments, the first axle is a rear axle of the vehicle, the wheels in the first coaxial wheel set are wheels on the rear axle of the vehicle, the other wheel is a right wheel (right rear wheel) on the rear axle of the vehicle in the case that the target wheel is a left wheel (left rear wheel) on the rear axle of the vehicle, the other wheel is a left wheel on the rear axle of the vehicle in the case that the target wheel is a right wheel on the rear axle of the vehicle; the second axle is a front axle of the vehicle, each wheel in the second coaxial wheel set is a wheel on the front axle of the vehicle, the wheels in the second coaxial wheel set include a left front wheel and a right front wheel.

[0094] In some embodiments, the method further comprises steps 204 to 206.

[0095] In step 204, in response to a steering request of the vehicle, a desired yaw angular acceleration of the vehicle is obtained according to an initial yaw angular velocity and a desired yaw angular velocity of the vehicle in the case that the vehicle meets a preset steering condition.

[0096] In this step, by responding to a steering request of the vehicle, a desired yaw angular acceleration of the vehicle is obtained according to an initial yaw angular velocity and a desired yaw angular velocity of the vehicle in the case that the vehicle meets a preset steering condition, and then a desired yaw total moment of the vehicle is obtained according to the desired yaw angular acceleration.

[0097] It should be noted that the steering request of the vehicle includes a request instruction for implementing a U-turn, an adjustment request of a desired angle of the vehicle, an adjustment request instruction of a desired angular velocity of the vehicle, etc.

[0098] The initial yaw angular velocity of the vehicle can be a current yaw angular velocity of the vehicle, and the desired yaw angular velocity can be a desired yaw angular velocity to be reached by the vehicle; the desired yaw angular acceleration can be a desired yaw angular acceleration to be reached by the vehicle.

[0099] For example, the desired yaw angular acceleration of the vehicle can be calculated according to the initial yaw angular velocity and the desired yaw angular velocity of the vehicle and a preset desired time length by a physical formula of acceleration; the preset desired time length is a time length for the vehicle to reach the desired yaw angular velocity from the initial yaw angular velocity.

[0100] In step 205, a desired yaw total moment of the vehicle is obtained according to the desired yaw angular acceleration; the desired yaw total moment is positively correlated with the desired yaw angular acceleration.

[0101] In this step, the first moment for driving the other wheels and the second moment for driving the wheels in the second coaxial wheel set are obtained according to the desired yaw total moment by obtaining the desired yaw total moment according to the desired yaw angular acceleration.

[0102] It should be noted that the desired yaw total moment can be calculated according to the desired yaw angular acceleration through a physical formula of moment and acceleration.

[0103] Referring to FIG. 6, in some embodiments, in a coordinate system with the desired yaw total moment as the x-axis and the desired yaw angular acceleration as the y-axis, the curve w1 is a curve corresponding to a first steering angle of the steering wheel, and the curve w2 is a curve corresponding to a second steering angle of the steering wheel. The curve w1 and the curve w2 are both linear curves, that is, the desired yaw total moment is linearly related to the desired yaw angular acceleration.

[0104] In step 206, the first moment for driving the other wheels and the second moment for driving the wheels in the second coaxial wheel set are obtained according to the desired yaw total moment.

[0105] In this step, the first moment for driving the other wheels and the second moment for driving the wheels in the second coaxial wheel set are obtained according to the desired yaw total moment by obtaining the first moment for driving the other wheels and the second moment for driving the wheels in the second coaxial wheel set according to the desired yaw total moment, and then driving the other wheels to be in the forward or reverse working condition by the first axle according to the first moment and driving each wheel in the second coaxial wheel set to be in the opposite working condition of the other wheels by the second axle according to the second moment.

[0106] In some embodiments, step 203 includes the following sub-step 2031.

[0107] In sub-step 2031, the other wheels are driven to be in the forward or reverse working condition by the first axle according to the first moment, and each wheel in the second coaxial wheel set is driven to be in the opposite working condition of the other wheels by the second axle according to the second moment.

[0108] In this sub-step, the other wheels are driven to be in the forward or reverse working condition by the first axle according to the first moment, and each wheel in the second coaxial wheel set is driven to be in the opposite working condition of the other wheels by the second axle according to the second moment, so that the vehicle turns in the way of tank-type U-turn.

[0109] In some embodiments, the method further comprises the following step 207.

[0110] In step 207, it is determined that the vehicle meets the preset steering condition, in a case that the vehicle speed of the vehicle is less than a first vehicle speed threshold, the torque of the vehicle driving the other wheels is less than a first torque threshold, the torque of the vehicle driving the wheels in the second coaxial wheel set is less than a second torque threshold, the differential lock of the first coaxial wheel set is in a locked state, the wheel end decoupler of the target wheel is in a decoupled state, the vehicle is in a four-wheel drive mode, the brake pedal of the vehicle is in an unpressed state, and the gearbox of the vehicle is in a drive gear.

[0111] In this step, by determining that the vehicle meets the preset steering condition, the vehicle is controlled to steer in a case that the vehicle meets the preset steering condition in response to the steering request of the vehicle.

[0112] It should be noted that the differential lock of the first coaxial wheel set is in a locked state, so that the differential of the first coaxial wheel set is closed and does not work; the wheel end decoupler of the target wheel is in a decoupled state, so that the target wheel is decoupled from the first axle; the brake pedal of the vehicle is in an unpressed state, i.e. no brake operation is performed on the vehicle.

[0113] For example, the first vehicle speed threshold can be 5 kilometers per hour, the first torque threshold can be 100 Newton-meters (N·m), and the second torque threshold can be 100 Newton-meters.

[0114] In some embodiments, the method further comprises the following steps 208 and 209.

[0115] In step 208, a safety detection result of the vehicle is determined according to a difference between the target operating parameter of the vehicle and the parameter threshold, in a case that the vehicle is steered by driving the wheels of the vehicle other than the target wheel.

[0116] In this step, by driving the wheels of the vehicle other than the target wheel to steer the vehicle, i.e. by driving the other wheels of the first coaxial wheel set other than the target wheel through the first axle, so that the other wheels are in a forward or reverse working condition, and by driving each wheel of the second coaxial wheel set through the second axle of the second coaxial wheel set, so that each wheel of the second coaxial wheel set is in a working condition opposite to that of the other wheels, a safety detection result of the vehicle is determined according to a difference between the target operating parameter of the vehicle and the parameter threshold, and the vehicle is controlled to stop steering in a case that the safety detection result of the vehicle is dangerous.

[0117] In step 209, the vehicle is controlled to stop steering in a case that the safety detection result of the vehicle is dangerous.

[0118] In this step, the vehicle is controlled to stop turning to avoid the dangerous conditions such as rollover, collision, out of control, etc. in the turning process of the vehicle in the case that the safety detection result of the vehicle is dangerous.

[0119] In some embodiments, the safety detection result of the vehicle is determined according to the difference between the target operating parameter of the vehicle and the parameter threshold, including the following sub-steps 2081 to step 2084.

[0120] In sub-step 2081, the safety detection result of the vehicle is determined to be dangerous in the case that the vehicle speed of the vehicle is greater than a second vehicle speed threshold, or the yaw angular velocity of the vehicle is greater than an angular velocity threshold.

[0121] In this sub-step, the safety detection result of the vehicle is determined to be dangerous in the case that the vehicle speed of the vehicle is greater than a second vehicle speed threshold, or the yaw angular velocity of the vehicle is greater than an angular velocity threshold, and the vehicle is controlled to stop turning.

[0122] For example, the second vehicle speed threshold is 120 kilometers per hour, and the angular velocity threshold is 90 degrees per second.

[0123] In sub-step 2082, the safety detection result of the vehicle is determined to be dangerous in the case that the yaw angular acceleration of the vehicle is greater than an angular acceleration threshold, and the duration that the yaw angular acceleration of the vehicle is greater than the angular acceleration threshold is greater than a first duration threshold.

[0124] In this sub-step, the safety detection result of the vehicle is determined to be dangerous in the case that the yaw angular acceleration of the vehicle is greater than an angular acceleration threshold, and the duration that the yaw angular acceleration of the vehicle is greater than the angular acceleration threshold is greater than a first duration threshold, and the vehicle is controlled to stop turning.

[0125] For example, the first duration threshold is 30 milliseconds.

[0126] In sub-step 2083, the safety detection result of the vehicle is determined to be dangerous in the case that the longitudinal acceleration of the vehicle is greater than a longitudinal acceleration threshold, and the duration that the longitudinal acceleration of the vehicle is greater than the longitudinal acceleration threshold is greater than a second duration threshold.

[0127] In this sub-step, the safety detection result of the vehicle is determined to be dangerous in the case that the longitudinal acceleration of the vehicle is greater than a longitudinal acceleration threshold, and the duration that the longitudinal acceleration of the vehicle is greater than the longitudinal acceleration threshold is greater than a second duration threshold, and the vehicle is controlled to stop turning.

[0128] For example, the second duration threshold is 30 milliseconds.

[0129] In sub-step 2084, in a case that the steering wheel angle of the vehicle is greater than the angle threshold, and the duration that the steering wheel angle of the vehicle is greater than the angle threshold is greater than a third duration threshold, it is determined that the safety detection result of the vehicle is dangerous.

[0130] In this sub-step, by determining that the safety detection result of the vehicle is dangerous in a case that the steering wheel angle of the vehicle is greater than the angle threshold, and the duration that the steering wheel angle of the vehicle is greater than the angle threshold is greater than a third duration threshold, the vehicle is controlled to stop steering.

[0131] For example, the third duration threshold is 40 milliseconds.

[0132] In some embodiments, the determining the safety detection result of the vehicle according to the difference between the target operating parameter of the vehicle and the parameter threshold comprises sub-steps 2085 to 2087.

[0133] In sub-step 2085, in a case that the steering wheel speed of the vehicle is greater than the speed threshold, and the duration that the steering wheel speed of the vehicle is greater than the speed threshold is greater than a fourth duration threshold, it is determined that the safety detection result of the vehicle is dangerous.

[0134] In this sub-step, by determining that the safety detection result of the vehicle is dangerous in a case that the steering wheel speed of the vehicle is greater than the speed threshold, and the duration that the steering wheel speed of the vehicle is greater than the speed threshold is greater than a fourth duration threshold, the vehicle is controlled to stop steering.

[0135] For example, the speed threshold is 90 degrees per second, and the fourth duration threshold is 40 milliseconds.

[0136] In sub-step 2086, in a case that the torque of the vehicle for driving the other wheels except the target wheel in the first coaxial wheel set is greater than a third torque threshold, and the duration that the torque of the vehicle for driving the other wheels is greater than the third torque threshold is greater than a fifth duration threshold, it is determined that the safety detection result of the vehicle is dangerous.

[0137] In this sub-step, by determining that the safety detection result of the vehicle is dangerous in a case that the torque of the vehicle for driving the other wheels is greater than a third torque threshold, and the duration that the torque of the vehicle for driving the other wheels is greater than the third torque threshold is greater than a fifth duration threshold, the vehicle is controlled to stop steering.

[0138] For example, the third torque threshold is 90% of the rated torque, and the fifth duration threshold is 50 milliseconds.

[0139] In sub-step 2087, in the case that the torque of driving the wheels in the second coaxial wheel set of the vehicle is greater than the fourth torque threshold, and the duration that the torque of driving the wheels in the second coaxial wheel set of the vehicle is greater than the fourth torque threshold is greater than the sixth duration threshold, it is determined that the safety detection result of the vehicle is dangerous.

[0140] In the present sub-step, by determining that the safety detection result of the vehicle is dangerous in the case that the torque of driving the wheels in the second coaxial wheel set of the vehicle is greater than the fourth torque threshold, and the duration that the torque of driving the wheels in the second coaxial wheel set of the vehicle is greater than the fourth torque threshold is greater than the sixth duration threshold, the vehicle is controlled to stop steering.

[0141] For example, the fourth torque threshold is 90% of the rated torque, and the sixth duration threshold is 50 milliseconds.

[0142] In some embodiments, the method further comprises the following step 210.

[0143] In step 210, in the case that the vehicle meets the steering exit condition, the vehicle is controlled to stop steering.

[0144] In the present step, by controlling the vehicle to stop steering in the case that the vehicle meets the steering exit condition, it is determined that the steering is completed and the steering control is ended.

[0145] In some embodiments, the method further comprises the following step 211.

[0146] In step 211, in the case that the gearbox of the vehicle exits the drive gear, or the vehicle exits the four-wheel drive mode, or the brake pedal of the vehicle is in the pressed state, or the accelerator pedal of the vehicle is in the unpressed state, or the vehicle completes the adjustment of the desired angle, or the differential lock of the first coaxial wheel set is in the unlocked state, or the wheel end decoupler of the target wheel is in the un-decoupled state, it is determined that the vehicle meets the steering exit condition.

[0147] In the present step, by determining that the vehicle meets the steering exit condition, the vehicle is controlled to stop steering.

[0148] It should be noted that the brake pedal of the vehicle is in the pressed state, i.e., the vehicle is braked; the accelerator pedal of the vehicle is in the unpressed state, i.e., the vehicle is not driven by oil; the vehicle completes the adjustment of the desired angle, i.e., the vehicle completes the steering according to the steering angle; the differential lock of the first coaxial wheel set is in the unlocked state, i.e., the differential lock of the first coaxial wheel set is unlocked, so that the differential of the first coaxial wheel set is opened and works; and the wheel end decoupler of the target wheel is in the un-decoupled state, i.e., the wheel end decoupler of the target wheel is closed, so that the target wheel is coupled with the first axle, at this time, the first axle can drive the target wheel to rotate.

[0149] In some embodiments, before step 203, the method further comprises the following step 212.

[0150] In step 212, a braking operation is performed on the target wheel.

[0151] In this step, by performing a braking operation on the target wheel, the target wheel is brought to a state of stopping rotation, and then by driving the other wheels in the first coaxial wheel set through the first axle, the other wheels are brought to a forward or reverse working condition, and by driving each wheel in the second coaxial wheel set through the second axle of the second coaxial wheel set of the vehicle, each wheel in the second coaxial wheel set is brought to a working condition opposite to that of the other wheels, so that the vehicle turns in a tank-type U-turn manner.

[0152] In some embodiments, the driving of the other wheels in the first coaxial wheel set through the first axle, so that the other wheels are brought to a forward or reverse working condition, comprises the following sub-step 2032.

[0153] In sub-step 2032, the first motor of the first coaxial wheel set is used to drive the other wheels through the first axle, so that the other wheels are brought to a forward or reverse working condition.

[0154] In this sub-step, the first motor of the first coaxial wheel set is used to drive the other wheels through the first axle, so that the other wheels are brought to a forward or reverse working condition, to cooperate with each wheel in the second coaxial wheel set in a working condition opposite to that of the other wheels, so that the vehicle turns.

[0155] In some embodiments, the driving of the other wheels in the first coaxial wheel set through the first axle, so that the other wheels are brought to a forward or reverse working condition, comprises the following sub-steps 2023 to 2034.

[0156] In sub-step 2033, in the case where the driving device of the vehicle is disconnected from the first axle through the parallel driving clutch of the vehicle, the first motor of the first coaxial wheel set is used to drive the other wheels through the first axle, so that the other wheels are brought to a forward or reverse working condition.

[0157] In this sub-step, in the case where the driving device of the vehicle is disconnected from the first axle through the parallel driving clutch of the vehicle, the first motor of the first coaxial wheel set is used to drive the other wheels through the first axle, so that the other wheels are brought to a forward or reverse working condition, to cooperate with each wheel in the second coaxial wheel set in a working condition opposite to that of the other wheels, so that the vehicle turns.

[0158] It should be noted that, in the case of the vehicle being a fuel automobile, the driving device of the vehicle can be an internal combustion engine; in the case of the vehicle being an electric automobile, the driving device of the vehicle can be an electric motor.

[0159] The parallel driving clutch of the vehicle disconnects the driving device of the vehicle from the first axle, i.e. makes the driving device of the vehicle not able to drive the other wheels.

[0160] In sub-step 2034, in the case of the driving device being connected to the first axle by the parallel driving clutch of the vehicle, the other wheels are driven by the first axle using the driving device, so that the other wheels are in the forward or backward working condition.

[0161] In the present sub-step, in the case of the driving device being connected to the first axle by the parallel driving clutch of the vehicle, the other wheels are driven by the first axle using the driving device, so that the other wheels are in the forward or backward working condition, to cooperate with each wheel in the second coaxial wheel set opposite to the other wheels, so that the vehicle turns.

[0162] It should be noted that the parallel driving clutch of the vehicle connects the driving device to the first axle, i.e. makes the driving device of the vehicle able to drive the other wheels.

[0163] In some embodiments, the driving of each wheel in the second coaxial wheel set of the vehicle by the second axle of the second coaxial wheel set, so that each wheel in the second coaxial wheel set is in the working condition opposite to the other wheels, includes the following sub-step 2035.

[0164] In sub-step 2035, each wheel in the second coaxial wheel set is driven by the second axle using the second motor of the second coaxial wheel set, so that each wheel in the second coaxial wheel set is in the working condition opposite to the other wheels.

[0165] In the present sub-step, each wheel in the second coaxial wheel set is driven by the second axle using the second motor of the second coaxial wheel set, so that each wheel in the second coaxial wheel set is in the working condition opposite to the other wheels, to cooperate with the other wheels, so that the vehicle turns.

[0166] In some embodiments, the driving of each wheel in the second coaxial wheel set of the vehicle by the second axle of the second coaxial wheel set, so that each wheel in the second coaxial wheel set is in the working condition opposite to the other wheels, includes the following sub-step 2036 and step 2037.

[0167] In sub-step 2036, with the driving device of the vehicle disconnected from the second axle by a parallel drive clutch of the vehicle, each wheel of the second set of coaxial wheels is driven by the second axle using a second electric motor of the second set of coaxial wheels such that each wheel of the second set of coaxial wheels is in an opposite working condition to the other wheels.

[0168] In this sub-step, with the driving device of the vehicle connected to the second axle by a parallel drive clutch of the vehicle, each wheel of the second set of coaxial wheels is driven by the second axle using the driving device such that each wheel of the second set of coaxial wheels is in an opposite working condition to the other wheels to cooperate with the other wheels so that the vehicle turns.

[0169] It should be noted that the parallel drive clutch of the vehicle disconnects the driving device of the vehicle from the second axle, i.e. the driving device of the vehicle cannot drive each wheel of the second set of coaxial wheels.

[0170] In sub-step 2037, with the driving device of the vehicle connected to the second axle by a parallel drive clutch of the vehicle, each wheel of the second set of coaxial wheels is driven by the second axle using the driving device such that each wheel of the second set of coaxial wheels is in an opposite working condition to the other wheels to cooperate with the other wheels so that the vehicle turns.

[0171] In this sub-step, with the driving device of the vehicle connected to the second axle by a parallel drive clutch of the vehicle, each wheel of the second set of coaxial wheels is driven by the second axle using the driving device such that each wheel of the second set of coaxial wheels is in an opposite working condition to the other wheels to cooperate with the other wheels so that the vehicle turns.

[0172] It should be noted that the parallel drive clutch of the vehicle connects the driving device of the vehicle to the second axle, i.e. the driving device of the vehicle can drive each wheel of the second set of coaxial wheels.

[0173] In some embodiments, step 203 includes the following sub-step 2038.

[0174] In sub-step 2038, with each wheel of the first set of coaxial wheels turning or each wheel of the second set of coaxial wheels turning, the other wheels are driven by the first axle such that the other wheels are in a forward or reverse working condition, and each wheel of the second set of coaxial wheels is driven by the second axle such that each wheel of the second set of coaxial wheels is in an opposite working condition to the other wheels.

[0175] In the sub-step, in the case that each wheel in the first coaxial wheel set is steered or each wheel in the second coaxial wheel set is steered, the other wheels are driven by the first axle to be in the forward or backward working condition, and each wheel in the second coaxial wheel set is driven by the second axle to be in the working condition opposite to the other wheels, so as to realize the steering of the vehicle.

[0176] In some embodiments, the steering of each wheel in the first coaxial wheel set is synchronized and has the same angle; the steering of each wheel in the second coaxial wheel set is synchronized and has the same angle.

[0177] Compared with the case that the wheels of the vehicle are not steered, in the case that each wheel in the first coaxial wheel set is steered or each wheel in the second coaxial wheel set is steered, the other wheels are driven by the first axle to be in the forward or backward working condition, and each wheel in the second coaxial wheel set is driven by the second axle to be in the working condition opposite to the other wheels, so as to reduce the turning radius of the vehicle when steering.

[0178] In summary, in some embodiments of the present disclosure, the target wheel in the first coaxial wheel set of the vehicle is first decoupled from the first axle of the first coaxial wheel set, so that the rotational motion of the first axle and the rotational motion of the target wheel are independent of each other, and then the wheels other than the target wheel of the vehicle are driven to realize the steering of the vehicle in the manner of tank-type U-turn, thereby improving the adaptability of the vehicle steering to limited space and improving the steering ability of the vehicle.

[0179] Referring to FIG. 4, the present disclosure further provides a steering system 200 of a vehicle, comprising a controller of the vehicle, a differential lock of a first coaxial wheel set of the vehicle, and a wheel end decoupler of a target wheel in the first coaxial wheel set; the controller is configured to, in response to a steering request of the vehicle, control the differential lock of the first coaxial wheel set to be locked to close the differential of the first coaxial wheel set, and control the wheel end decoupler to decouple the target wheel from a first axle of the first coaxial wheel set, so that the rotational motion of the first axle and the rotational motion of the target wheel are independent of each other, and then drive the other wheels in the first coaxial wheel set other than the target wheel by the first axle to be in the forward or backward working condition, and drive each wheel in a second coaxial wheel set of the vehicle by a second axle of the second coaxial wheel set to be in the working condition opposite to the other wheels, so as to realize the steering of the vehicle.

[0180] The specific implementation process of the steering system of the vehicle is similar to the implementation process of the aforementioned steering method of the vehicle, which will not be described here again.

[0181] Referring to FIG. 3, the disclosure further provides a vehicle 100 comprising the aforementioned vehicle's steering system 200.

[0182] In some embodiments, the vehicle further comprises a driving device, a first coaxial wheel set, a second coaxial wheel set, a first axle of the first coaxial wheel set, a second axle of the second coaxial wheel set; the first coaxial wheel set is provided with a differential; the driving device is a driving device coupled with an engine and a motor or a motor driving device; the driving device is used to drive the wheels in the first coaxial wheel set through the first axle and drive the wheels in the second coaxial wheel set through the second axle.

[0183] The implementation process of the vehicle's steering system in the vehicle is similar to the implementation process of the aforementioned vehicle's steering system, which will not be described here.

[0184] Referring to FIG. 3, in some embodiments, the vehicle 100 in some embodiments of the disclosure comprises an internal combustion engine 50, a hybrid transmission 40, a first axle, a second axle, a first coaxial wheel set, a second coaxial wheel set, a power battery pack 80, a controller 30, an auxiliary drive motor assembly 20 and a wheel end decoupler 10. The second axle comprises a front left half axle 74 and a front right half axle 73, the first axle comprises a rear left half axle 72 and a rear right half axle 71, the hybrid transmission 40 comprises a generator 41, a second motor 42 and a parallel driving clutch 43, and a second differential 44. The first coaxial wheel set comprises a target wheel 61 and other wheels 62, and the second coaxial wheel set comprises a front left wheel 63 and a front right wheel 64. The auxiliary drive motor assembly 20 comprises a differential assembly 21 and a first motor 22.

[0185] It should be noted that the differential assembly 21 comprises a differential lock of the first coaxial wheel set and a first differential, and the first differential is a differential of the first coaxial wheel set. The generator 41 is used to charge the power battery pack, and the power battery pack is used to power the vehicle. The driving device of the vehicle is the internal combustion engine 50, and the second axle can be driven by the internal combustion engine 50 or the second motor 42. The target wheel is the rear right wheel, and the controller can control the wheel end decoupler 10 to open, so that the rear right half axle 71 is decoupled from the target wheel 61, and the controller can control the wheel end decoupler 10 to close, so that the rear right half axle 71 is coupled with the target wheel 61.

[0186] In other embodiments, the wheel end decoupler is arranged on the rear left half axle, and the target wheel is the rear left wheel.

[0187] Referring to FIG. 4, in some embodiments, the other wheels 62 are in the reverse working condition, the other wheels 62 are reversed along the u2 direction, each wheel in the second coaxial wheel set (including the front left wheel 63 and the front right wheel 64) is in the forward working condition, each wheel in the second coaxial wheel set is forward rotated along the u1 direction, the other wheels 62 in the first coaxial wheel set are driven to be reversed along the u2 direction by the first axle, and each wheel in the second coaxial wheel set is driven to be forward rotated along the u1 direction by the second axle of the second coaxial wheel set of the vehicle, so as to realize the steering of the vehicle in the counterclockwise direction v1 in the tank-type U-turn manner.

[0188] The second axle is driven by the internal combustion engine 50 to drive the front left wheel 63 and the front right wheel 64 of the wheels, and the power of the internal combustion engine 50 is equally distributed to the front left wheel 63 and the front right wheel 64. The differential lock of the first coaxial wheel set is locked, and the wheel end decoupler 10 is opened to decouple the rear right half shaft 71 and the target wheel 61, and the power of the first motor 22 is fully transmitted to the other wheels 62. The engine (i.e., the internal combustion engine 50) is in the power forward gear mode, the front left wheel 63 and the front right wheel 64 are forward rotated; the first motor 22 is reversed (i.e., in the reverse gear mode), the other wheels 62 are reversed, the target wheel 61 is powered, and the vehicle can realize the U-turn in the counterclockwise direction v1.

[0189] Similarly, the second axle can also be driven by the second motor 42 to drive the front left wheel 63 and the front right wheel 64 of the wheels, and the power of the second motor 42 is equally distributed to the front left wheel 63 and the front right wheel 64. The differential lock of the first coaxial wheel set is locked, and the wheel end decoupler 10 is opened to decouple the rear right half shaft 71 and the target wheel 61, and the power of the first motor 22 is fully transmitted to the other wheels 62. The second motor 42 is forward rotated (i.e., in the forward gear mode), the front left wheel 63 and the front right wheel 64 are forward rotated; the first motor 22 is reversed (i.e., in the reverse gear mode), the other wheels 62 are reversed, the target wheel 61 is powered, and the vehicle can realize the U-turn in the counterclockwise direction v1.

[0190] Referring to FIG. 5, in some embodiments, the other wheels 62 are in the forward working condition, the other wheels 62 are forward rotated along the u1 direction, each wheel in the second coaxial wheel set (including the front left wheel 63 and the front right wheel 64) is in the reverse working condition, each wheel in the second coaxial wheel set is reversed along the u2 direction, the other wheels 62 in the first coaxial wheel set are driven to be forward rotated along the u1 direction by the first axle, and each wheel in the second coaxial wheel set is driven to be reversed along the u2 direction by the second axle of the second coaxial wheel set of the vehicle, so as to realize the steering of the vehicle in the clockwise direction v2 in the tank-type U-turn manner.

[0191] The second axle is driven by the second motor 42 to drive the front left wheel 63, the front right wheel 64 of the vehicle, and the power of the second motor 42 is equally distributed to the front left wheel 63, the front right wheel 64. The differential lock of the first coaxial wheel set is locked, and at the same time the wheel end decoupler 10 is opened to decouple the rear right half shaft 71 from the target wheel 61, and the power of the first motor 22 is fully transmitted to the other wheels 62. The second motor 42 is reversed (i.e. in reverse mode), the front left wheel 63, the front right wheel 64 are reversed; the first motor 22 is forward (i.e. in forward mode), the other wheels 62 are forward, the target wheel 61 is not powered, and the vehicle can realize a clockwise v2 U-turn.

[0192] In some embodiments, the modes of vehicle steering are illustrated as shown in the following table (Table 1):

[0193] Table 1

[0194] Mode one is that the parallel driving clutch is in A2 state, so that the internal combustion engine 50 is in A1 state (i.e. the state of driving the wheels in the second coaxial wheel set), the second motor is in B3 state (i.e. the state of not driving the wheels in the second coaxial wheel set), and the second axle is driven by the internal combustion engine 50 to drive the front left wheel 63, the front right wheel 64 of the vehicle. The power of the internal combustion engine 50 is equally distributed to the front left wheel 63, the front right wheel 64. The differential lock of the first coaxial wheel set is in A5 state (i.e. locked state), and at the same time the wheel end decoupler 10 is in A6 state (i.e. open state) to decouple the rear right half shaft 71 from the target wheel 61, and the first motor 22 is in A4 state (i.e. the state of driving the other wheels). The power of the first motor 22 is fully transmitted to the other wheels 62. The engine (i.e. the internal combustion engine 50) is in power forward mode, the front left wheel 63, the front right wheel 64 are forward; the first motor 22 is reversed (i.e. in reverse mode), the other wheels 62 are reversed, the target wheel 61 is not powered, and the vehicle can realize a counterclockwise v1 U-turn.

[0195] Mode two is that the parallel driving clutch is in B2 state, so that the internal combustion engine 50 is in B1 state (i.e. the state of not driving the wheels in the second coaxial wheel set), the second motor is in A3 state (i.e. the state of driving the wheels in the second coaxial wheel set), the second axle is driven by the second motor 42 to drive the front left wheel 63 and the front right wheel 64 of the wheels, and the power of the second motor 42 is equally distributed to the front left wheel 63 and the front right wheel 64. The differential lock of the first coaxial wheel set is in A5 state (i.e. the locked state), and the wheel end decoupler 10 is in A6 state (i.e. the open state) to decouple the rear right half shaft 71 and the target wheel 61, the first motor 22 is in A4 state (i.e. the state of driving other wheels), and the power of the first motor 22 is transmitted to the other wheels 62; the second motor 42 rotates forward (i.e. in the forward gear mode), the front left wheel 63 and the front right wheel 64 rotate forward; the first motor 22 reverses (i.e. in the reverse gear mode), the other wheels 62 reverse, the target wheel 61 has no power, and the vehicle can realize the counterclockwise direction v1 of the original turning.

[0196] Mode three is that the parallel driving clutch is in B2 state, so that the internal combustion engine 50 is in B1 state (i.e. the state of not driving the wheels in the second coaxial wheel set), the second motor is in A3 state (i.e. the state of driving the wheels in the second coaxial wheel set), the second axle is driven by the second motor 42 to drive the front left wheel 63 and the front right wheel 64 of the wheels, and the power of the second motor 42 is equally distributed to the front left wheel 63 and the front right wheel 64. The differential lock of the first coaxial wheel set is in A5 state (i.e. the locked state), and the wheel end decoupler 10 is in A6 state (i.e. the open state) to decouple the rear right half shaft 71 and the target wheel 61, the first motor 22 is in A4 state (i.e. the state of driving other wheels), and the power of the first motor 22 is transmitted to the other wheels 62. The second motor 42 reverses (i.e. in the reverse gear mode), the front left wheel 63 and the front right wheel 64 reverse; the first motor 22 rotates forward (i.e. in the forward gear mode), the other wheels 62 rotate forward, the target wheel 61 has no power, and the vehicle can realize the clockwise direction v2 of the original turning.

[0197] In some embodiments, the expression of the desired yaw moment is as follows:

[0198] where T ym is the desired yaw moment, T a is the first moment, T m is the second moment, B is the wheel track, and r is the wheel radius.

[0199] Since the second differential 44 is arranged on the second axle, the torque for driving the front left wheel 63 and the torque for driving the front right wheel 64 are both Since the differential lock of the first coaxial wheel assembly is in state A5 (locked state) and the wheel-end decoupling device 10 is in state A6 (open state), after decoupling, the right half-shaft 71 and the target wheel 61 are separated. Therefore, the torque driving the target wheel 61 is 0, and the torque driving the other wheels 62 is T. a .

[0200] And satisfy: T m +T a =0,|T m |=|T a |

[0201] The desired total yaw moment T ym Substituting the wheel radius r and track width B into the expression for the desired total yaw moment, the first moment T can be obtained. a Because of |T m |=|T a | Then the second torque T can also be obtained. m .

[0202] Referring to Figure 7, in some embodiments, the vehicle steering process includes:

[0203] X1. Receive request signals from the host computer and sensor signals.

[0204] The request signal is the vehicle's steering request signal. The vehicle's steering request includes the request command to perform a U-turn, the request to adjust the vehicle's desired angle, the request command to adjust the vehicle's desired angular velocity, etc. The sensor signals include the first torque, the second torque, the vehicle speed, the steering wheel angle, the steering wheel speed, the differential lock signal, the wheel end decoupler signal, etc.

[0205] X2. Determine if the entry condition is met. If "yes", proceed to step X3; if "no", return to step X1.

[0206] Specifically, it is determined whether the following conditions are met: the vehicle speed is less than the first speed threshold, the torque of the vehicle driving other wheels is less than the first torque threshold, the torque of the vehicle driving the wheels in the second coaxial wheel group is less than the second torque threshold, the differential lock of the first coaxial wheel group is locked, the wheel end decoupling device of the target wheel is decoupled, the vehicle is in four-wheel drive mode, the vehicle's brake pedal is not pressed, and the vehicle's transmission is in drive gear.

[0207] X3. Determine the target value, and based on the target value, control the power output of the main drive (second motor) and auxiliary drive (first motor).

[0208] That is, according to the initial yaw angular velocity and the desired yaw angular velocity of the vehicle, the desired yaw angular acceleration of the vehicle is obtained, and then according to the desired yaw angular acceleration, the desired yaw total moment of the vehicle is obtained, and then according to the desired yaw total moment, the first moment for driving the other wheels and the second moment for driving the wheels in the second coaxial wheel set are obtained, and then according to the first moment, the other wheels are driven through the first axle so that the other wheels are in the forward or backward working condition, and according to the second moment, each wheel in the second coaxial wheel set is driven through the second axle so that each wheel in the second coaxial wheel set is in the working condition opposite to that of the other wheels.

[0209] X4, determine whether the safety limit condition is met. If "yes", step X5 is executed; if "no", the process ends.

[0210] That is, the safety detection result of the vehicle is obtained.

[0211] X5, based on the measured value, the main drive and auxiliary driving force output are closed-loop adjusted.

[0212] That is, during the steering of the vehicle, according to the current initial yaw angular velocity and the desired yaw angular velocity of the vehicle, the current desired yaw angular acceleration of the vehicle is obtained, and then according to the current desired yaw angular acceleration, the current desired yaw total moment of the vehicle is obtained, and then according to the current desired yaw total moment, the current first moment for driving the other wheels and the current second moment for driving each wheel in the second coaxial wheel set are obtained, and then according to the first moment, the other wheels are driven through the first axle so that the other wheels are in the forward or backward working condition, and according to the second moment, each wheel in the second coaxial wheel set is driven through the second axle so that each wheel in the second coaxial wheel set is in the working condition opposite to that of the other wheels.

[0213] X6, determine whether the exit condition is met. If "yes", step X7 is executed; if "no", step X5 is returned to execute.

[0214] That is, it is determined whether the vehicle meets the steering exit condition.

[0215] X7, the yaw angular acceleration and the yaw torque (yaw total moment) of the vehicle are adjusted to gradually reduce to zero.

[0216] The implementation process is similar to the aforementioned vehicle steering method, which will not be described here.

[0217] In some embodiments of the present disclosure, in the process of realizing the steering of the vehicle in the manner of tank-type U-turn, the electric power steering (EPS) function of the vehicle is not used, the wheels are not braked, and the power of the rear wheels is not lost. Moreover, in some embodiments of the present disclosure, four motors are not used to control the wheels (i.e., each wheel is controlled by the motor corresponding to the wheel), which reduces the control difficulty and production cost. In addition, in the driving on a road curve, the outer wheels have a relatively high speed, and if better curve traction is desired, the outer wheels need more power. Some embodiments of the present disclosure can transfer part of the power of the inner wheels with a slow speed to the outer wheels with a fast speed in the driving on a curve, so as to help the vehicle obtain better curve traction.

[0218] In some embodiments of the present disclosure, in response to a steering request of the vehicle, a controller controls a differential lock of a first coaxial wheel set to lock the differential lock of the first coaxial wheel set to close a differential of the first coaxial wheel set, and controls a wheel end decoupler to decouple a target wheel from a first axle of the first coaxial wheel set, so that the rotational motion of the first axle and the rotational motion of the target wheel are independent of each other. Then, the other wheels of the first coaxial wheel set except the target wheel are driven by the first axle, so that the other wheels are in a forward or reverse working condition, and each wheel of a second coaxial wheel set of the vehicle is driven by a second axle of the second coaxial wheel set, so that each wheel of the second coaxial wheel set is in a working condition opposite to that of the other wheels, so as to realize the steering of the vehicle in the manner of tank-type U-turn, improve the adaptability of the vehicle steering to limited space, and thus improve the steering ability of the vehicle.

[0219] FIG. 8 is a schematic diagram of a steering device of a vehicle according to some embodiments of the present disclosure. The steering device 400 of the vehicle includes a first processing module 401 and a second processing module 402.

[0220] The first processing module 401 is configured to decouple a target wheel of a first coaxial wheel set of a vehicle from a first axle of the first coaxial wheel set, so that the rotational motion of the first axle and the rotational motion of the target wheel are independent of each other.

[0221] The second processing module 402 is configured to drive the wheels of the vehicle except the target wheel to realize the steering of the vehicle.

[0222] In some embodiments, the second processing module 402 comprises a first processing submodule. The first processing submodule is configured to drive the other wheels in the first coaxial wheel set except the target wheel through the first axle, so that the other wheels are in a forward or reverse working condition, and drive each wheel in the second coaxial wheel set through the second axle of the second coaxial wheel set, so that each wheel in the second coaxial wheel set is in a working condition opposite to that of the other wheels, to realize the steering of the vehicle.

[0223] In some embodiments, the first processing submodule comprises a processing unit. The processing unit is configured to drive the other wheels through the first axle, so that the other wheels are in a forward or reverse working condition, and drive each wheel in the second coaxial wheel set through the second axle, so that each wheel in the second coaxial wheel set is in a working condition opposite to that of the other wheels, in the case that each wheel in the first coaxial wheel set is steering and / or each wheel in the second coaxial wheel set is steering.

[0224] In some embodiments, the target wheel and the other wheels are front wheels of the vehicle, the first axle is a front axle of the vehicle, each wheel in the second coaxial wheel set is a rear wheel of the vehicle, and the second axle is a rear axle of the vehicle; or, the target wheel and the other wheels are rear wheels of the vehicle, the first axle is a rear axle of the vehicle, each wheel in the second coaxial wheel set is a front wheel of the vehicle, and the second axle is a front axle of the vehicle.

[0225] In some embodiments, the apparatus 400 further comprises a first obtaining module, a second obtaining module, and a third obtaining module.

[0226] The first obtaining module is configured to, in response to a steering request of the vehicle, obtain a desired yaw angular acceleration of the vehicle according to an initial yaw angular velocity and a desired yaw angular velocity of the vehicle, in the case that the vehicle meets a preset steering condition.

[0227] The second obtaining module is configured to obtain a desired yaw total moment of the vehicle according to the desired yaw angular acceleration; the desired yaw total moment is positively correlated with the desired yaw angular acceleration.

[0228] The third obtaining module is configured to obtain a first moment for driving the other wheels and a second moment for driving the wheels in the second coaxial wheel set according to the desired yaw total moment.

[0229] In some embodiments, the second processing module 402 comprises a second processing submodule. The second processing submodule is configured to drive the other wheels through the first axle according to the first torque, so that the other wheels are in a forward or reverse working condition, and drive each wheel in the second coaxial wheel set through the second axle according to the second torque, so that each wheel in the second coaxial wheel set is in a working condition opposite to the other wheels.

[0230] In some embodiments, the apparatus 400 further comprises a first determining module. The first determining module is configured to determine that the vehicle satisfies a preset steering condition, in a case where a vehicle speed of the vehicle is less than a first vehicle speed threshold, a torque for driving the other wheels of the vehicle is less than a first torque threshold, a torque for driving the wheels in the second coaxial wheel set is less than a second torque threshold, a differential lock of the first coaxial wheel set is in a locked state, a wheel end decoupler of the target wheel is in a decoupled state, the vehicle is in a four-wheel drive mode, a brake pedal of the vehicle is in an unpressed state, and a transmission of the vehicle is in a drive gear.

[0231] In some embodiments, the apparatus 400 further comprises a third processing module. The third processing module is configured to perform a braking operation on the target wheel.

[0232] In some embodiments, the apparatus 400 further comprises a fourth processing module. The fourth processing module is configured to lock the differential lock of the first coaxial wheel set.

[0233] In some embodiments, the apparatus 400 further comprises a second determining module and a first control module. The second determining module is configured to determine a safety detection result of the vehicle according to a difference between a target operating parameter of the vehicle and a parameter threshold, in a case where the vehicle is steered by driving wheels of the vehicle other than the target wheel. The first control module is configured to control the vehicle to stop steering, in a case where the safety detection result of the vehicle is dangerous.

[0234] In some embodiments, the second determining module comprises a first determining submodule, a second determining submodule, a third determining submodule, and a fourth determining submodule.

[0235] The first determining submodule is configured to determine that the safety detection result of the vehicle is dangerous, in a case where a vehicle speed of the vehicle is greater than a second vehicle speed threshold or a yaw angular velocity of the vehicle is greater than an angular velocity threshold.

[0236] The second determining submodule is configured to determine that the safety detection result of the vehicle is dangerous, in a case where a yaw angular acceleration of the vehicle is greater than an angular acceleration threshold, and a duration for which the yaw angular acceleration of the vehicle is greater than the angular acceleration threshold is greater than a first duration threshold.

[0237] The third determining sub-module is configured to determine that the safety detection result of the vehicle is dangerous in a case where the longitudinal acceleration of the vehicle is greater than the longitudinal acceleration threshold, and the duration for which the longitudinal acceleration of the vehicle is greater than the longitudinal acceleration threshold is greater than the second duration threshold.

[0238] The fourth determining sub-module is configured to determine that the safety detection result of the vehicle is dangerous in a case where the steering wheel angle of the vehicle is greater than the angle threshold, and the duration for which the steering wheel angle of the vehicle is greater than the angle threshold is greater than the third duration threshold.

[0239] In some embodiments, the second determining module comprises a fifth determining sub-module, a sixth determining sub-module, and a seventh determining sub-module.

[0240] The fifth determining sub-module is configured to determine that the safety detection result of the vehicle is dangerous in a case where the steering wheel speed of the vehicle is greater than the speed threshold, and the duration for which the steering wheel speed of the vehicle is greater than the speed threshold is greater than the fourth duration threshold.

[0241] The sixth determining sub-module is configured to determine that the safety detection result of the vehicle is dangerous in a case where the torque of the vehicle for driving the other wheels in the first coaxial wheel set except the target wheel is greater than the third torque threshold, and the duration for which the torque of the vehicle for driving the other wheels is greater than the third torque threshold is greater than the fifth duration threshold.

[0242] The seventh determining sub-module is configured to determine that the safety detection result of the vehicle is dangerous in a case where the torque of the vehicle for driving the wheels in the second coaxial wheel set is greater than the fourth torque threshold, and the duration for which the torque of the vehicle for driving the wheels in the second coaxial wheel set is greater than the fourth torque threshold is greater than the sixth duration threshold.

[0243] In some embodiments, the device 400 further comprises a second control module. The second control module is configured to determine that the vehicle satisfies a steering exit condition and control the vehicle to stop steering in a case where the gearbox of the vehicle exits a drive gear, or the vehicle exits a four-wheel drive mode, or the brake pedal of the vehicle is in a pressed state, or the accelerator pedal of the vehicle is in an unpressed state, or the vehicle completes adjustment of a desired angle, or the differential lock of the first coaxial wheel set is in an unlocked state, or the wheel end decoupler of the target wheel is in an uncoupled state.

[0244] For the above-mentioned device embodiments, since they are basically similar to the steering method embodiments of the vehicle, the related parts are described in the method embodiments.

[0245] In summary, in some embodiments of the present disclosure, first, a target wheel in a first coaxial wheel set of a vehicle is decoupled from a first axle of the first coaxial wheel set, so that the rotational movement of the first axle and the rotational movement of the target wheel are independent of each other, and then wheels of the vehicle other than the target wheel are driven to realize steering of the vehicle in a tank-type U-turn manner, improve the adaptability of vehicle steering to limited space, and thus improve the steering ability of the vehicle.

[0246] The present disclosure also provides an electronic device 300, as shown in FIG. 9, which includes a processor 501, a communication interface 502, a memory 503, and a communication bus 504. The processor 501, the communication interface 502, and the memory 503 complete communication with each other through the communication bus 504.

[0247] The memory 503 is used to store a computer program.

[0248] The processor 501 is used to execute the program stored on the memory 503, and the following steps are realized:

[0249] Decoupling a target wheel in a first coaxial wheel set of a vehicle from a first axle of the first coaxial wheel set, so that the rotational movement of the first axle and the rotational movement of the target wheel are independent of each other;

[0250] Driving wheels of the vehicle other than the target wheel to realize steering of the vehicle.

[0251] The processor 501 can also realize other steps in the above-mentioned vehicle steering method, which will not be described here.

[0252] The communication bus mentioned in the above-mentioned electronic device can be a peripheral component interconnect (PCI) bus, an extended industry standard architecture (EISA) bus, a controller area network (CAN) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or only one type of bus.

[0253] The communication interface is used for communication between the above-mentioned electronic device and other devices.

[0254] The memory can include a random access memory (RAM) and can also include a non-volatile memory, such as at least one disk memory. Optionally, the memory can also be at least one storage device located away from the aforementioned processor.

[0255] The aforementioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0256] In yet another embodiment provided by the present disclosure, a computer readable storage medium is also provided, which stores instructions, when running on a computer, causes the computer to perform the steering method of the vehicle in the above embodiments.

[0257] In yet another embodiment provided by the present disclosure, a computer program product containing instructions is also provided, which, when running on a computer, causes the computer to perform the steering method of the vehicle in the above embodiments.

[0258] Some embodiments of the present disclosure also provide a vehicle, which includes the electronic device as described above.

[0259] In the embodiments described above, all or some of the steps can be implemented by software, hardware or firmware, or any combination thereof. When implemented by software, all or some of the steps can be implemented in the form of one or more computer programs. The computer program can be stored in any computer readable medium, and loaded into the computer system for execution. The computer readable medium includes: a computer storage medium and a computer communication medium. The computer storage medium includes: volatile media (such as random access memory (RAM) and others) and non-volatile media (such as read-only memory (ROM), floppy disks, CD-ROMs, optical storage devices, hard disks, solid-state disks (SSD), etc.). The computer communication medium includes: computer networks and other computer communication media. The computer program product includes one or more computer programs.

[0260] It should be noted that the relative terms, such as first and second, etc., are used only to differentiate one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. In addition, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0261] Each of the embodiments in the specification is described in a related manner, and the same or similar parts between each of the embodiments can be referred to each other. Each of the embodiments focuses on the difference from other embodiments. For the embodiments of the device, electronic device, computer readable storage medium and computer program product including instructions thereof, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiment.

[0262] The above merely provides preferred embodiments of the present disclosure, but not for limiting the protection scope of the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the principle and technical scope of the present disclosure shall fall into the protection scope of the present disclosure.

Claims

1. A steering method of a vehicle, comprising: decoupling a target wheel in a first set of coaxial wheels of the vehicle from a first axle of the first set of coaxial wheels, such that a rotational motion of the first axle is independent of a rotational motion of the target wheel; steering the vehicle by driving wheels of the vehicle other than the target wheel.

2. The method of claim 1, wherein, The steering the vehicle by driving wheels of the vehicle other than the target wheel comprises: driving wheels other than the target wheel in the first set of coaxial wheels through the first axle, such that the wheels other than the target wheel are in a forward or reverse working condition, and driving each wheel in a second set of coaxial wheels of the vehicle through a second axle of the second set of coaxial wheels, such that each wheel in the second set of coaxial wheels is in a working condition opposite to the working condition of the wheels other than the target wheel, to steer the vehicle.

3. The method of claim 2, wherein, The driving wheels other than the target wheel in the first set of coaxial wheels through the first axle, such that the wheels other than the target wheel are in a forward or reverse working condition, and driving each wheel in the second set of coaxial wheels through the second axle, such that each wheel in the second set of coaxial wheels is in a working condition opposite to the working condition of the wheels other than the target wheel, comprises: when at least one of each wheel in the first set of coaxial wheels is steered, or each wheel in the second set of coaxial wheels is steered, driving the wheels other than the target wheel through the first axle, such that the wheels other than the target wheel are in a forward or reverse working condition, and driving each wheel in the second set of coaxial wheels through the second axle, such that each wheel in the second set of coaxial wheels is in a working condition opposite to the working condition of the wheels other than the target wheel.

4. The method of claim 2 or 3, wherein, The target wheel and the wheels other than the target wheel are front wheels of the vehicle, and the first axle is a front axle of the vehicle; each wheel in the second set of coaxial wheels is a rear wheel of the vehicle, and the second axle is a rear axle of the vehicle. Or, The target wheel and the wheels other than the target wheel are rear wheels of the vehicle, and the first axle is a rear axle of the vehicle; each wheel in the second set of coaxial wheels is a front wheel of the vehicle, and the second axle is a front axle of the vehicle. 5.The method of any one of claims 2 to 4, further comprising: in response to a steering request of the vehicle, when the vehicle meets a preset steering condition, obtaining a desired yaw angular acceleration of the vehicle according to an initial yaw angular velocity and a desired yaw angular velocity of the vehicle; obtaining a desired yaw total moment of the vehicle according to the desired yaw angular acceleration; the desired yaw total moment is positively correlated with the desired yaw angular acceleration; obtaining a first moment for driving the wheels other than the target wheel and a second moment for driving wheels in the second set of coaxial wheels according to the desired yaw total moment.

6. The method of claim 5, wherein, The driving the other wheels in the first coaxial wheel set through the first axle to make the other wheels in the forward or reverse working condition, and driving each wheel in the second coaxial wheel set through the second axle of the second coaxial wheel set to make each wheel in the second coaxial wheel set in the opposite working condition of the other wheels, comprises: According to the first torque, driving the other wheels through the first axle to make the other wheels in the forward or reverse working condition, and according to the second torque, driving each wheel in the second coaxial wheel set through the second axle to make each wheel in the second coaxial wheel set in the opposite working condition of the other wheels.

7. The method of claim 5 or 6, further comprising: determining that the vehicle meets a preset steering condition when the vehicle speed of the vehicle is less than a first vehicle speed threshold, and the torque of the vehicle driving the other wheels is less than a first torque threshold, the torque of the vehicle driving the wheels in the second coaxial wheel set is less than a second torque threshold, the differential lock of the first coaxial wheel set is in a locked state, the wheel end decoupler of the target wheel is in a decoupled state, the vehicle is in a four-wheel drive mode, the brake pedal of the vehicle is in an unpressed state, and the transmission of the vehicle is in a drive gear.

8. The method of any one of claims 1 to 7, wherein, Before the driving the wheels of the vehicle other than the target wheel to realize the steering of the vehicle, the method further comprises: performing a braking operation on the target wheel.

9. The method of any one of claims 1 to 8, wherein, Before the driving the wheels of the vehicle other than the target wheel to realize the steering of the vehicle, the method further comprises: locking the differential lock of the first coaxial wheel set.

10. The method of any one of claims 1 to 9, further comprising: determining a safety detection result of the vehicle according to a difference between the target operating parameter of the vehicle and a parameter threshold when the driving the wheels of the vehicle other than the target wheel to realize the steering of the vehicle; controlling the vehicle to stop steering when the safety detection result of the vehicle is dangerous.

11. The method of claim 10, wherein, The determining the safety detection result of the vehicle according to the difference between the target operating parameter of the vehicle and the parameter threshold, comprises: determining that the safety detection result of the vehicle is dangerous when the vehicle speed of the vehicle is greater than a second vehicle speed threshold, or the yaw angular velocity of the vehicle is greater than an angular velocity threshold; determining that the safety detection result of the vehicle is dangerous when the yaw angular acceleration of the vehicle is greater than an angular acceleration threshold, and the duration for which the yaw angular acceleration of the vehicle is greater than the angular acceleration threshold is greater than a first duration threshold; determining that the safety detection result of the vehicle is dangerous when the longitudinal acceleration of the vehicle is greater than a longitudinal acceleration threshold, and the duration for which the longitudinal acceleration of the vehicle is greater than the longitudinal acceleration threshold is greater than a second duration threshold; In a case where the steering wheel angle of the vehicle is greater than the angle threshold, and a duration for which the steering wheel angle of the vehicle is greater than the angle threshold is greater than a third duration threshold, it is determined that the safety detection result of the vehicle is dangerous.

12. The method of claim 10, wherein, The safety detection result of the vehicle is determined according to a difference between the target operating parameter of the vehicle and a parameter threshold, including: In a case where the steering wheel speed of the vehicle is greater than the speed threshold, and a duration for which the steering wheel speed of the vehicle is greater than the speed threshold is greater than a fourth duration threshold, it is determined that the safety detection result of the vehicle is dangerous; In a case where the torque of the vehicle for driving the other wheels of the first coaxial wheel set except the target wheel is greater than a third torque threshold, and a duration for which the torque of the vehicle for driving the other wheels is greater than the third torque threshold is greater than a fifth duration threshold, it is determined that the safety detection result of the vehicle is dangerous; In a case where the torque of the vehicle for driving the wheels of the second coaxial wheel set is greater than a fourth torque threshold, and a duration for which the torque of the vehicle for driving the wheels of the second coaxial wheel set is greater than the fourth torque threshold is greater than a sixth duration threshold, it is determined that the safety detection result of the vehicle is dangerous.

13. The method of any one of claims 1 to 12, further comprising: In a case where one of the following conditions is met, it is determined that the vehicle meets a steering exit condition, and the vehicle is controlled to stop steering; The gearbox of the vehicle exits a drive gear; The vehicle exits a four-wheel drive mode; The brake pedal of the vehicle is in a pressed state; The accelerator pedal of the vehicle is in an unpressed state; The vehicle completes an adjustment of a desired angle; The differential lock of the first coaxial wheel set is in an unlocked state; or The wheel end decoupler of the target wheel is in an uncoupled state.

14. A steering system of a vehicle, comprising a controller of the vehicle, a differential lock of a first coaxial wheel set of the vehicle, and a wheel end decoupler of a target wheel in the first coaxial wheel set; The controller is configured to: in response to a steering request of the vehicle, control the differential lock of the first coaxial wheel set to be locked to close the differential of the first coaxial wheel set, and control the wheel end decoupler to decouple the target wheel from a first axle of the first coaxial wheel set, so that the rotational motion of the first axle and the rotational motion of the target wheel are independent of each other, then drive the other wheels of the first coaxial wheel set except the target wheel through the first axle, so that the other wheels are in a forward or reverse working condition, and drive each wheel of a second coaxial wheel set of the vehicle through a second axle of the second coaxial wheel set, so that each wheel of the second coaxial wheel set is in a working condition opposite to that of the other wheels, to realize the steering of the vehicle.

15. A vehicle comprising the steering system of the vehicle according to claim 14.

16. The vehicle of claim 15, further comprising a driving device, a first coaxial wheel set, a second coaxial wheel set, a first axle of the first coaxial wheel set, and a second axle of the second coaxial wheel set. wherein The first coaxial wheel set is provided with a differential; the driving device is a driving device coupled by an engine and a motor, or a motor driving device; The driving device is configured to drive wheels in the first coaxial wheel set through the first axle, and drive wheels in the second coaxial wheel set through the second axle.

17. An electronic device comprising: A processor, a communication interface, a memory and a communication bus; wherein the processor, the communication interface and the memory complete mutual communication through the communication bus; The memory is configured to store a computer program; The processor is configured to implement the steering method of the vehicle according to any one of claims 1 to 13 when executing the program stored on the memory.

18. A computer readable storage medium having stored thereon a computer program, wherein, The program is executed by the processor to implement the steering method of the vehicle according to any one of claims 1 to 13.

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