1354 results about "Steering angle" patented technology

The invention discloses a cooperative steering control method considering man-machine mutual reliability, and aims to solve the problem of man-machine conflict in an existing man-machine co-driving system. The invention relates to the field of intelligent driving. The system specifically comprises an expected path module, a man-machine steering conflict evaluation module, a driver experience evaluation module, a weight distribution module, a non-cooperative game module and a man-machine co-driving vehicle. The expected path module generates an expected path between the driver and the controller; the man-machine steering conflict evaluation module outputs the trust degree of the driver to the controller based on the steering action of the driver, the vehicle state and the expected path of the driver and the controller; the driver experience evaluation module outputs the driver trust degree of the controller based on the vehicle state; the weight distribution module is used for outputting a driver control weight; and the non-cooperative game module outputs an optimal turning angle in combination with the expected path of the driver and the controller and the control weight of the driver, and controls the man-machine co-driving vehicle to complete the cooperative steering action.

A vehicle-mounted GNSS positioning method based on multi-motion model interaction includes: establishing a position-constant velocity (PCV) model and a position-constant steering angular velocity (PCSAV) model for two attitudes of a carrier (i.e., linear motion and turning motion) respectively to obtain a state estimation vector and a state transition matrix of the carrier of the PCV model and the PCSAV model at a previous moment, introducing an interacting multiple model (INM), establishing a heuristic position-velocity filtering (HPV)-IMM model based on the IMM model to achieve an information filtering interaction between the PCV model and the PCSAV model, and obtaining a state estimation vector and an error covariance matrix of the carrier at a current moment, so as to obtain a position and velocity of the carrier at the current moment. The present disclosure solves the problem of low accuracy of a traditional single kinematic model in multi-motion attitude vehicle positioning.

The invention discloses an automatic driving path planning method based on multi-sensor fusion, and relates to the technical field of automatic driving, and the method comprises the steps: collecting environment, vehicle and positioning data through multi-source sensors, such as a laser radar and a camera; mapping a vehicle body coordinate system through coordinate conversion, and carrying out downsampling, correction enhancement and denoising preprocessing on data; extracting multi-sensor features, and distributing weights by means of a cross-modal attention mechanism to complete multi-modal fusion; recognizing obstacles and passable areas, and predicting a 5s track of a dynamic obstacle; 5-8 initial paths are generated based on the coordinate system and dynamic constraints; constructing a multi-objective function to screen an optimal path; and finally, a steering angle and an acceleration instruction are calculated through model prediction control, and accurate path tracking is realized. The sensing robustness is improved through multi-sensor fusion, the dynamic weight adjustment adapts to the complex environment, the emergency obstacle avoidance mechanism is quick in response, and the automatic driving reliability and the scene adaptability are integrally enhanced.

The utility model discloses a field cultivation platform, which belongs to the technical field of cultivation equipment and comprises a work platform, a steering support mechanism and the like, and a cross beam of the work platform is a steel pipe and is fixedly connected with a beam frame and an end plate; the steering supporting mechanism comprises a rotating drum, an upper seat body, a lower seat body, a swing arm and a wheel set; through cooperative control of the first telescopic cylinder, the second telescopic cylinder and the third telescopic cylinder, the functions of height adjustment, flexible steering and off-ground steering assisting are achieved; an end plate is provided with an adjusting hole to adjust the terrain clearance of the platform, the stability is enhanced through the swing arm structure design, and the second telescopic cylinder expands the steering angle of the wheel set through a folding arm structure; the beam is of a sealed structure to form a hydraulic oil cavity, space is saved, and maintenance frequency is low. The farmland cultivation platform is flexible in steering, suitable for farmland operation in complex terrains and capable of efficiently completing tasks such as cultivation and transition, and adaptability and operation efficiency are greatly improved.

The invention discloses an agricultural machine navigation method and device, equipment and a storage medium. The method comprises the following steps: determining a visual path point of an agricultural machine at the current moment, acquiring an original farmland image of the agricultural machine looking forward at the visual path point through a camera, and acquiring farmland point cloud data of the agricultural machine looking forward at the visual path point through a laser radar; determining a fitting path line of a farmland furrow according to the farmland original image and the farmland point cloud data; determining the steering angle and the speed of the agricultural machine according to the fitting path line and the visual path point; and adjusting the steering and speed of the agricultural machine according to the steering angle and speed of the agricultural machine to realize navigation driving of the agricultural machine along the fitting path line. According to the technical scheme of the invention, vision is taken as a dominant, the navigation path of the agricultural machinery in the furrow environment is accurately extracted by fusing the camera and the laser radar sensor, and meanwhile, the navigation performance of the agricultural machinery is enhanced according to the navigation path and agricultural machinery motion control, so that the accurate navigation method for the agricultural machinery in the furrow layout environment is realized, and the robustness is high.

The invention discloses a pivot steering control system and method based on a four-wheel steering driving automobile and the automobile, and belongs to the technical field of automobiles. The in-situ steering control system obtains the state information of a vehicle through the state observation module, and the algorithm decision-making module receives the state information sent by the state observation module and then carries out decision-making calculation output processing according to the state information. And a pivot steering control decision containing a wheel steering angle adjusting instruction and a wheel output torque adjusting instruction is obtained, so that the four wheels are controlled to deflect by specific directions and angles through the control execution module, driving is conducted according to the deflection angles of the vehicles in the specific directions, and pivot steering control over the vehicles is achieved. The in-situ steering control system can dynamically adjust steering angles and torque distribution of the four wheels according to actual driving working conditions, the accuracy and response speed of in-situ steering control are improved, and the vehicle can accurately achieve in-situ steering according to an expected posture.

The invention relates to the technical field of automobiles, in particular to a four-wheel steering vehicle track control method based on model predictive control. Firstly, a rear wheel proportionality coefficient changing along with the longitudinal speed of the vehicle is constructed; expressing a rear wheel steering angle as a function of a front wheel steering angle based on the proportionality coefficient, and substituting the function into a traditional three-degree-of-freedom four-wheel steering model to construct a simplified three-degree-of-freedom dynamic model with lower control dimension; performing linearization and discretization processing on the simplified model, and constructing an MPC prediction model; constructing a control objective function and related constraint conditions; and performing rolling optimization solution on the control target function to obtain an output rotation angle control instruction. According to the method, the complexity of a control problem is effectively reduced through model simplification, and the real-time performance and stability of a control system can be remarkably improved while the vehicle trajectory tracking precision is ensured.

The invention provides a reinforcement learning steering control method and system based on a safety barrier, electronic equipment and a storage medium, and relates to the field of automatic driving safety control. The method comprises the following steps: sensing current states of each participating object and a vehicle in an environment; respectively performing state estimation and future moment position prediction on the participating objects and the vehicle by applying Kalman filtering to obtain relative position probability distribution of each participating object and the vehicle in a plurality of steps in the future; calculating the collision probability of the vehicle and each participating object, and determining the overall collision risk according to the probability; the total collision risk is compared with a preset collision safety barrier threshold value, when the total collision risk is larger than the collision safety barrier threshold value, a safety barrier is triggered, candidate wheel turning angles are projected into an action set meeting safety constraints based on minimum change projection, and the projected wheel turning angles are issued and executed; if not, triggering is not conducted, and a reinforcement learning decision maker is adopted to output candidate wheel rotation angles and issue for execution.

The invention discloses an automatic driving behavior planning method and device based on pure vision instance detection, and relates to the technical field of automatic driving, and the method comprises the steps: obtaining a vision input image of a current frame of a vehicle, and determining the current vehicle speed and the current vehicle steering angle in real time; outputting object semantic categories and 3D positions of the plurality of object targets based on the visual input image through a detection model; projecting the object target to an obstacle avoidance area of the vehicle according to each 3D position, and determining a relative distance between a target obstacle and a vehicle object to which the target obstacle belongs; the vehicle-object relative speed of each target obstacle is determined, and the corresponding obstacle risk level is determined in combination with the object semantic category and the vehicle-object relative distance; and based on each obstacle risk level and the associated vehicle-object relative distance, vehicle-object relative speed and object semantic category, the current vehicle speed and the current vehicle steering angle of the vehicle are adjusted through a preset semantic-based obstacle avoidance behavior rule base decision. On the basis of the scheme, the reliability of automatic driving obstacle avoidance planning is integrally improved in an assisting manner.

The invention discloses an unmanned mine car front and rear wheel synchronous steering system which comprises a car frame, a front steering axle and a rear steering axle, and the front steering axle and the rear steering axle are installed on a car and control steering through a steering system. The steering system comprises a front axle working cylinder, a front axle driven cylinder, a rear axle working cylinder and a rear axle driven cylinder, the front axle working cylinder and the front axle driven cylinder control front wheels of a vehicle to rotate, the rear axle working cylinder and the rear axle driven cylinder control rear wheels of the vehicle to rotate, and cavities of the front axle working cylinder and the rear axle working cylinder are communicated with a working port A and a working port B of a three-position four-way reversing valve through pipelines respectively. Cavities of the front axle driven cylinder and the rear axle driven cylinder are communicated through a valveless rigid connecting pipeline to form a rigid series oil way, and in the rigid series oil way, the amount of oil discharged by the front wheel working cylinder and the front axle driven cylinder is equal to the amount of oil received by the rear wheel working cylinder and the rear axle driven cylinder. Mechanical hydraulic synchronization of steering angles of front and rear wheels of the vehicle is realized, delay and fault risks of dependence on sensors are eliminated, and high-reliability rigid synchronization is realized.

The application discloses a cooperative steering control method considering human-machine trust degree, and aims at solving the human-machine conflict problem in the existing human-machine co-driving system. The application relates to the field of intelligent driving. Specifically, the application comprises an expected path module, a human-machine steering conflict evaluation module, a driver experience evaluation module, a weight distribution module, a non-cooperative game module and a human-machine co-driving vehicle. The expected path module generates the expected paths of the driver and the controller; the human-machine steering conflict evaluation module outputs the trust degree of the driver to the controller based on the steering action of the driver, the vehicle state and the expected paths of the driver and the controller; the driver experience evaluation module outputs the trust degree of the controller to the driver based on the vehicle state; the weight distribution module is used for outputting the driver control weight; and the non-cooperative game module combines the expected paths of the driver and the controller and the driver control weight to output the optimal steering angle, so as to control the human-machine co-driving vehicle to complete the cooperative steering action.

The invention provides a vehicle control method and device based on rear wheel steering. The method comprises the steps that whether a target vehicle is in an unstable state or not is judged based on a two-degree-of-freedom vehicle dynamics model of the target vehicle; when the target vehicle is in the unstable state, a rear wheel steering mode is determined according to the vehicle speed of the target vehicle; based on the deviation between the actual yaw velocity and the expected yaw velocity of the target vehicle, determining a rear wheel steering angle by adopting a proportional-integral-derivative controller; and controlling rear wheels of the target vehicle to steer according to the rear wheel steering mode and the rear wheel steering angle. By actively adjusting the steering angle of the rear wheel, the dynamic control capability of the vehicle is remarkably improved.

The invention relates to a vehicle steering control method and device, vehicle-mounted equipment, a vehicle, a medium and a product. The method comprises the following steps: acquiring an ideal Ackerman corner of each wheel in a vehicle in a current driving state; according to the ideal Ackerman rotation angle of each wheel and the current driving state, estimating the side slip angle of each wheel to obtain an estimated side slip angle of each wheel; determining whether the vehicle is in a high-speed steering state according to the current driving state; determining a target steering angle according to whether the vehicle is in a high-speed steering state, the estimated slip angle of each wheel and the ideal Ackerman steering angle of each wheel; and controlling each wheel of the vehicle according to the target steering angle. By adopting the method, the deviation of the ideal Ackerman angle in the steering process can be compensated by estimating the slip angle, so that the handling stability and the steering precision of the vehicle can be improved, and the stability and the safety of the vehicle in the running process are further improved.

A vehicle control system for a vehicle with steer-by-wire steering may include a road wheel actuator operably coupled to a road wheel of the vehicle to position the road wheel based to a road wheel angle based on a target angle, a feedback actuator operably coupled to a steering wheel of the vehicle to generate the target angle based on a steering wheel angle and to generate feedback to an operator of the vehicle, a sensor network comprising sensors to detect the steering wheel angle and the road wheel angle, a display disposed in the vehicle to be visible to the operator of the vehicle during vehicle operation, and a controller for determining when a misalignment exists between the road wheel angle and the steering wheel angle and providing a visual indication of the misalignment on the display.

The invention belongs to the technical field of new energy automobile steering systems, and discloses a new energy automobile electric hydraulic power-assisted steering system and a control method thereof.The system integrates a double-source redundant hydraulic power unit, a hydraulic adjusting unit, a multi-dimensional working condition sensing unit and an intelligent main controller; the multi-dimensional working condition sensing unit is integrated with a road adhesion coefficient detection module and a battery remaining capacity detection module. The control method is layered look-ahead matching control and is executed by an intelligent main controller in parallel: a power-assisted decision-making layer divides a three-stage power-assisted mode according to multi-dimensional perception information, and limits a steering angular velocity when power-assisted is enhanced on a low-attached road surface; the energy optimization layer predicts and implements prospective energy storage and pump rotating speed self-adaptive adjustment based on the intention of a driver; and the fault diagnosis layer realizes rapid fault identification and redundancy switching through multi-parameter collaborative diagnosis. The contradiction of high energy consumption, response delay and weak safety guarantee of a traditional system is solved, and power-assisted steering which is safe, energy-saving, fast in response and high in adaptability is achieved.

A steering model controller in a chassis dynamometer of the disclosure executes a turning determination process of determining whether a driving state of a vehicle is a steering / turning state or a driving straight state based on comparison results between a turning radius for determination and turning radii for comparison calculated based on left steering angle information and right steering angle information. Then, the steering model controller executes a turning control process as a roller control process to be executed in determining that the vehicle is in the steering / turning state. The turning control process is a process of outputting, to a roller driving mechanism, four roller driving commands at which four rollers adapt to the steering / turning state of the vehicle and are rotationally driven.

The invention discloses an intelligent control system for rearview mirror adjustment. The intelligent control system comprises a vehicle-road collaborative sensing data acquisition module, a multi-mode road condition feature fusion module, a space-time fusion segmentation processing module, a scene parameter analysis module, a reinforcement learning decision calculation module and a rearview mirror driving control module. The vehicle-road collaborative sensing data acquisition module captures roadside radar signals, camera images and vehicle-end bus data, the multi-mode road condition feature fusion module and the space-time fusion segmentation processing module cooperatively complete data space-time alignment and semantic segmentation, and the scene parameter analysis module extracts parameters such as obstacle distance and lane line curvature from the data. The reinforcement learning decision calculation module constructs a scene self-adaptive decision system based on parameters, and the rearview mirror driving control module receives an instruction to regulate and control the rotating speed and the steering angle of a motor. All the modules form a'sensing-fusion-decision-execution 'closed loop, accurate adaptation of the view of the rearview mirror under different road conditions is achieved, and driving safety and adjustment timeliness are improved.

The invention discloses a transverse movement control system and method based on rear wheel steering, a controller and a vehicle, and belongs to the technical field of vehicles. The transverse movement control system obtains state information of a vehicle through a state observation module, and after an algorithm decision module receives the state information sent by the state observation module, decision calculation output processing is conducted according to the state information, so that a transverse movement control decision containing a wheel steering angle adjusting instruction and a wheel output torque adjusting instruction is obtained. Therefore, the front wheels and the rear wheels are controlled by the control execution module to deflect by a specific angle in the transverse movement direction in the opposite directions and are driven reversely, and transverse movement control over the vehicle is achieved. The transverse movement control system can dynamically adjust steering angles and torque distribution of front and rear wheels according to actual driving working conditions, the accuracy and response speed of transverse movement control are improved, and the vehicle can accurately transversely move along an expected track.

The invention discloses a self-balancing control method applied to a heteroaxial two-wheeled vehicle, the vehicle carries a scissor-type double CMG module, the module comprises two CMG units, and the method comprises hardware decoupling: using the scissor-type double CMG to counteract course disturbance torque generated when the CMG works on a physical level; role separation: redefining a CMG system and a steering system; feedforward coordination: during turning, not depending on the CMG always generating a restoring moment to maintain a 0-degree inclination angle, calculating a steady-state inclination angle (phi lean) required at the speed and the steering angle through a dynamic model feedforward; and track planning: by coordinating track planning, it is ensured that the inclination action of the CMG and the steering action of the steering are perfectly synchronized in time, and balance is dynamically maintained. The problem of CMG saturation is solved, high-precision decoupling control is achieved, turning is smooth and safe, full-speed-domain coverage is achieved, and efficiency and energy saving are achieved.

A corner module apparatus includes a hub connected to a wheel, a main body spaced apart from the hub, a first motor disposed inside the main body, a second motor disposed inside the main body and spaced apart from the first motor, a drive member connected to the first motor and the hub, and providing a driving force to the wheel, and a steering member connected to the second motor and the hub, for adjusting a steering angle of the wheel.

The invention discloses a steering-by-wire fault degradation processing method and system, a vehicle, equipment and a medium, and relates to the technical field of vehicle control. The steering-by-wire fault degradation processing method comprises the following steps that the fault state of a steering-by-wire system of a vehicle is obtained; according to the fault state of the steer-by-wire system, whether a braking system of the vehicle needs to provide steering capacity is judged; if the braking system needs to provide the steering capacity, the needed front wheel steering angle is determined according to the steering angle signal and the vehicle speed; four-wheel braking force needed by the vehicle is determined according to the needed front wheel rotation angle; and controlling the braking system to execute the braking force of each wheel according to the required four-wheel braking force so as to realize front wheel steering. Under the condition that the steer-by-wire system breaks down and loses part of or all steering capacity, extra steering capacity can be provided through four-wheel braking force distribution of the braking system, cross-system redundancy safety is achieved, and the safety of the steer-by-wire vehicle is improved.

The invention discloses a vehicle steering control method and device and a vehicle, and relates to the technical field of vehicle control. The vehicle steering control method comprises the steps that running parameter information of the multi-axle steering vehicle is obtained, and the running parameter information comprises turning angle information of all axles and switching state information of the multi-axle steering vehicle; according to the driving parameter information, constructing a lateral dynamic state equation model of the multi-axle steering vehicle; according to the lateral dynamic state equation model, the rotation angle of each shaft is determined; and controlling the multi-axle steering vehicle to steer according to the rotation angle of each axle. According to the scheme disclosed by the invention, the safety of the multi-axle steering vehicle during mutual switching between manual driving and intelligent driving can be improved.

The invention relates to the technical field of vehicle control, in particular to a vehicle stability control method and a vehicle. The method comprises the steps that driving parameters are obtained, and vehicle inclination parameters are determined according to the driving parameters; in response to the condition that the vehicle inclination parameter meets an inclination state condition, a stable control function is activated, and the inclination state condition is a parameter condition influencing normal driving of the vehicle when it is determined that the vehicle is in an inclination scene; and according to the vehicle inclination parameter, a rear wheel correction rotation angle is determined, and a rear wheel is controlled to conduct angle correction according to the rear wheel correction rotation angle. In this way, when the vehicle inclines, the rear wheels of the vehicle can be controlled to conduct angle correction based on the rear wheel correction rotation angle, so that the vehicle can offset the deflection situation caused by inclination of the vehicle, and the vehicle can stably run without adjusting the direction of the front wheels.

The invention relates to the technical field of highway engineering construction, and discloses a joint cutting device and method for highway engineering.The joint cutting device comprises a moving platform, a through opening is formed in the center of the top of the moving platform, a movable plate is arranged at the through opening, and the front side and the rear side of the top of the moving platform are each provided with a linear module; the moving seats of the two groups of linear modules are fixedly connected with the outer side of the movable plate, the number of each group of linear modules is one or more, a joint cutting mechanism is arranged at the bottom of the movable plate, and anti-deviation steering mechanisms are arranged at the four corners of the bottom of the moving platform. Through a positioning structure of the deviation-preventing steering mechanism, the steering angle of the wheels is accurate and controllable, the problems of deviation and uneven depth in the joint cutting process can be effectively solved by matching with the stable lifting function of the linear module, and particularly in long-distance parallel joint cutting construction, it can be guaranteed that all cut joints are kept parallel and uniform in specification, the construction quality is improved, and the construction cost is reduced. And the joint cutting precision is obviously improved.

A vehicle employs a method of towing a trailer. A speedometer measures a current velocity of the vehicle. A hitch length sensor obtains a current trailer length of the trailer. A steering angle sensor measures a steering wheel angle of a steering wheel of the vehicle. A processor determines a velocity difference between the current velocity of the vehicle and a nominal velocity of the vehicle, determines a length difference between the current trailer length and a nominal trailer length, calculates a dynamic steering ratio based on the length difference and the velocity difference, determines a road wheel angle for the vehicle from the steering wheel angle and the dynamic steering ratio, and controls a road wheel actuator to obtain the road wheel angle to steer the vehicle.

The invention discloses a vehicle turning control method and device and a distributed driving vehicle, and relates to the technical field of vehicles. The method comprises the steps that under the condition that the current working condition of a vehicle is a curve acceleration working condition, the total yawing moment is determined based on target driving force corresponding to all wheels in the vehicle; on the basis of the total yaw moment and an aggressive degree coefficient corresponding to the current driving mode, compensation yaw moment is determined; the aggressive degree coefficient is related to the average transverse acceleration of the vehicle within the preset duration closest to the current moment; determining a target rear wheel steering angle corresponding to the compensated yaw moment; an angle of a rear wheel in the vehicle is adjusted based on the target rear wheel steering angle to accelerate the vehicle through the curve. By adopting the method, the efficiency of the vehicle passing through the curve and the driving safety can be improved under the condition that the vehicle runs on the curve.

The invention provides a vehicle steering control method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a measurement state parameter of a vehicle at a current moment, and obtaining a prediction error vector according to the measurement state parameter and a prediction state parameter at a previous moment; adjusting the weight configuration of a model prediction controller according to the prediction error vector, and inputting a preset vehicle dynamics model, the measurement state parameters and a reference state determined according to the steering angle of the steering wheel of the driver into the adjusted model prediction controller to obtain a target steering control quantity; and generating a target power-assisted torque according to the target steering control quantity so as to control the steering of the vehicle. According to the method and the device, the optimal balance of the safety, the stability and the control performance of the vehicle can be realized under various road and driving conditions.

A lateral–vertical dynamics coordinated control method for a distributed drive electric vehicle, and a related device. The lateral–vertical dynamics coordinated control method for a distributed drive electric vehicle comprises the following steps: creating a fourteen-degree-of-freedom full vehicle model which considers unbalanced magnetic force in an in-wheel motor, so as to accurately represent a state response of a vehicle under different inputs; a three-dimensional piecewise affine tire model performing piecewise linearization of a lateral force of a tire under different side slip angles and vertical loads, so that nonlinear features of the tire can be described under extreme operating conditions; creating an active front-wheel steering controller on the basis of hybrid model predictive control, obtaining a reference center of mass side slip angle and a yaw rate by means of a bicycle model, and then calculating an additional steering angle of the vehicle, thereby ensuring vehicle stability; and designing a multi-constraint input and multi-constraint output active suspension controller based on dual-model predictive control by using roll stability and ride comfort, that is, a tire dynamic load, a vehicle body acceleration, and an in-wheel motor stator-rotor eccentricity, as suspension design control targets.

The invention discloses a drive-by-wire hydraulic steering system and method based on linear active disturbance rejection, and belongs to the technical field of automobile steering, the steering system comprises a hydraulic control unit and a control module, the hydraulic control unit is used for controlling the movement direction and the movement speed of a steering oil cylinder by controlling the flowing direction and the flowing speed of hydraulic oil; and the control module is used for calculating the received input turning angle and the actual turning angle according to a linear active-disturbance-rejection steering angle control algorithm, controlling the steering of a steering control valve in the hydraulic control unit, and indirectly controlling the steering angle and the motion trail of the vehicle through the steering of the steering control valve. By means of the steering system and method, the problems of non-linear interference such as uncertainty of tire aligning torque influence factors and electromagnetic coupling of a steering execution motor can be effectively solved, high-precision steering angle tracking control is achieved, the steering precision and the response speed of a vehicle are remarkably improved, and the maneuverability and the sense of safety of a driver are improved.

The invention belongs to the technical field of vehicle four-wheel steering control, and discloses a four-wheel steering control method and system based on Transform and deep reinforcement learning. The method comprises the following steps: S1, obtaining an output state quantity based on a vehicle steering model comprising crosswind disturbance; and S2, according to the output state quantity and an improved PPO-Transformer algorithm, solving a feasible optimal solution of front and rear wheel turning angles in the four-wheel steering system, and determining a control quantity acting on the vehicle steering model based on the feasible optimal solution. Specifically, on one hand, the stability factor and disturbance factor of vehicle steering are fully considered, and external disturbances such as crosswind are introduced into a vehicle steering model, so that the robustness of a reinforcement learning training result is effectively improved; and on the other hand, the improved PPO-Transform algorithm is obtained by embedding a Transform architecture with a simplified structure into an Actor network, and the recognition capability of the algorithm on abnormal data is improved by utilizing a self-attention mechanism of a Transform core while the real-time control and generalization advantages of the PPO algorithm are not influenced.