950 results about "Turning angle" patented technology

The invention relates to the field of risk assessment of intelligent driving vehicles, in particular to a dynamic instability risk assessment method for a driving track of an intelligent driving vehicle, a dynamic instability risk assessment system for the driving track of the intelligent driving vehicle, computer equipment and a storage medium. And the future vehicle trajectory information given by the trajectory planning and predicting module is used as input, and the front wheel turning angle and the vehicle speed required by the vehicle tracking trajectory are obtained. And then the model is used as the input of a nonlinear two-degree-of-freedom vehicle dynamic model based on a UniTile-Ctrl tire model to describe the nonlinear dynamic response of the vehicle under the complex working condition, and the prediction of the dynamic state of the vehicle is realized. On the basis, a vehicle stability evaluation method based on a phase plane is introduced, and evaluation and pre-judgment of the dynamic instability risk of the vehicle driving track are achieved. The method is of great significance in solving the dynamic instability risk evaluation of the driving track of the intelligent driving vehicle under the complex working condition.

The invention relates to the technical field of new energy vehicles, and particularly discloses a turning auxiliary control method and device of a vehicle, the vehicle and a storage medium, and the method comprises the steps that under the condition that a turning auxiliary mode is started, first state information of the vehicle is obtained, and whether the turning auxiliary mode is activated or not is judged based on the first state information; if yes, control information is generated to control a brake to brake and lock rear wheels on the outer side, and target turning speed information and steering wheel turning angle information are obtained; determining front and rear axle target torque information of the vehicle based on the target turning speed information and the steering wheel angle information; the target torque information of the front and rear shafts is corrected according to the yaw velocity and then fed back to front and rear electric drive assemblies of the vehicle to achieve vehicle turning auxiliary control; the second state information of the vehicle is obtained every second time, whether the turning auxiliary mode is quitted or not is judged based on the second state information, the turning radius is smaller, the stability of the vehicle in the turning process is better, and meanwhile the method can adapt to different road conditions.

A steering device controls a turning angle of each wheel in a vehicle. The vehicle has wheels, which are not mechanically constrained to each other. The wheels are steered independently. The steering device includes an operation determination unit, a coordinate determination unit, a turning angle calculator, and steering actuators. The operation determination unit determines a vehicle operation mode based on the vehicle state. The coordinate determination unit determines the coordinates of the turning center of the vehicle based on the vehicle operation mode. The turning angle calculator calculates a turning angle command value for each wheel based on the coordinates of the turning center. The steering actuators are provided correspondingly to the respective wheels. These steering actuators steer the respective wheels according to the turning angle command values.

A method includes receiving a turning angle indication indicating a turn of front wheels of the vehicle in one of a left direction or a right direction by a turning angle relative to a first direction of travel of the vehicle, and determining that a magnitude of the turning angle satisfies a threshold turn angle. Based on determining that the magnitude of the turning angle satisfies the threshold turn angle, the method also includes operating the vehicle in a drift mode by determining that an inner rear wheel includes one of a left rear wheel or a right rear wheel of the vehicle, determining that an outer rear wheel includes the other one of the left rear wheel or the right rear wheel, and commanding at least one torque machine to provide forward torque to the inner rear wheel without providing any forward torque to the outer rear wheel of the vehicle.

The invention relates to an intelligent automatic parking control device and method based on multi-sensor information fusion, and belongs to the field of vehicle intelligent control. The control device comprises an information acquisition module, a microcontroller and a vehicle control unit; the method comprises the following steps: acquiring parking environment information through the point cloud information acquisition sensor, and acquiring parking space image information through the image information acquisition sensor; acquiring the current speed of the vehicle through a vehicle speed signal acquisition sensor; the deflection amplitude of a front wheel rotation angle is collected through a front wheel rotation angle signal collection sensor; the preprocessed image information and the point cloud information are fused through an unscented Kalman filter, the front wheel turning angle is calculated according to the position coordinates of the current driving state of the vehicle and the vehicle course angle, and the vehicle speed and the front wheel turning angle are controlled through a vehicle control unit so that the vehicle can be parked along a planned path. According to the invention, the coverage scene of the automatic parking method is expanded, and the accuracy of parking space detection and the comfort and stability in the parking process are improved.

The invention discloses a vehicle control method, electronic equipment, a collision stability control system and a vehicle. The vehicle control method comprises the steps that it is determined that the vehicle meets an unstable state; and according to the target rear wheel steering angle value, the rotation angle of the rear wheels of the vehicle is controlled, and according to the target torque value, a four-wheel motor of the vehicle is controlled to conduct driving and / or braking. According to the method, when the vehicle is in the unstable state, the rear wheel turning angle can be adjusted, the four-wheel motor of the whole vehicle can be driven and / or braked, additional yaw compensation torque is generated to maintain the stability of the vehicle, a driver is helped to correct the posture of the vehicle body in the initial stage of the unstable state, and losses caused by secondary collision after the vehicle is unstable are avoided.

The invention relates to the technical field of automobile driving, and provides a vehicle driving control method, a drive-by-wire steering gear and a vehicle, and the method is applied to the drive-by-wire steering gear in a drive-by-wire steering system of the vehicle. The current driving state information of the vehicle is obtained through a curve speed auxiliary system and a vehicle control unit; the current driving state information comprises a current steering wheel rotating angle and a current steering wheel rotating speed which are obtained through a curve speed auxiliary system, and a current vehicle speed and a current lateral acceleration which are obtained through a vehicle control unit; calculating a target wheel turning angle and a target wheel turning angle speed of the vehicle according to the current driving state information; and determining a target lateral acceleration according to the target wheel rotation angle and the target wheel rotation angle speed, and performing driving control on the vehicle based on the target lateral acceleration. According to the method, the safety of vehicle driving control can be guaranteed when the drive-by-wire steering column has the abnormal fault.

The invention discloses a tire longitudinal force and lateral force prediction method based on vehicle state parameter estimation, which adopts a seven-order spherical radius criterion to replace the original three-order spherical radial volume criterion on the basis of the traditional volume Kalman filter (CKF), and improves the estimation precision by optimizing sampling point distribution and weight configuration. And the stability of numerical calculation is ensured in combination with QR decomposition. A vehicle-mounted sensor is used for collecting real-time data such as a front wheel turning angle and longitudinal / lateral acceleration under a complex working condition, a time sequence feature set is built by combining longitudinal speed, lateral speed, a side slip angle and yaw velocity estimated by an algorithm, and meanwhile tire force calculated by a Dugoff tire model serves as target output. The TCN-GRU-based tire force prediction method is designed, the calculation complexity can be reduced while key time sequence information is kept, and the real-time prediction performance of the tire force is improved.

A steering control device for a marine vessel including a propulsion device to propel a hull, a steering wheel having a limited rotatable angle, and a turning driver to change a turning angle of the propulsion device, includes a controller configured or programmed to determine, based on an acquired rotation angle position of the steering wheel, whether the steering wheel is stopped, and to control, during a control to shift the steering mode from an automatic steering mode to a normal steering mode, the turning driver to reduce a deviation between a turning angle corresponding to the acquired rotation angle position of the steering wheel and an acquired actual turning angle of the propulsion device if the steering wheel is stopped.

The invention relates to a navigation control method and device of agricultural machinery, electronic equipment, a medium and the agricultural machinery, and the method comprises the following steps: acquiring a positioning point coordinate, course information, real-time vehicle speed and yaw rate information of the agricultural machinery at the current moment, and calculating the navigation of the agricultural machinery according to the positioning point coordinate, course information, real-time vehicle speed and yaw rate information at the current moment; calculating transverse deviation, course deviation and estimated values of the front wheel turning angle between the agricultural machine and a preset target path point according to the geometrical relationship, calculating an expected value of the front wheel turning angle at the next moment of the current moment according to the transverse deviation, the course deviation and the estimated values of the front wheel turning angle, and calculating the expected value of the front wheel turning angle at the next moment according to the expected value of the front wheel turning angle at the next moment. The agricultural machine is controlled to advance. By means of the method, the expected value of the front wheel rotation angle at the next moment is optimized, so that accurate control over advancing of the agricultural machine is achieved, the path tracking accuracy of the agricultural machine is remarkably improved, deviation errors in the operation process can be effectively reduced, and it is ensured that the agricultural machine accurately travels according to the preset path.

The invention provides a method for determining the target yaw velocity of a vehicle and a related device, and relates to the field of automobile movement, and the method comprises the steps: obtaining the whole vehicle mass of the vehicle, a first distance between a front wheel and a mass center, a second distance between a rear wheel and the mass center, front wheel cornering stiffness, rear wheel cornering stiffness, a current speed and a current front wheel rotation angle; inputting the obtained data into a steady-state steering model to obtain the yaw velocity of the vehicle based on front wheel steering; determining a target front wheel steering angle based on the current front wheel steering angle; calculating a target yaw velocity of the vehicle based on rear wheel steering based on the current driving mode, the target front wheel steering angle, the whole vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness and the current velocity; the target yaw velocity of the vehicle can be calculated according to the yaw velocity of the vehicle based on the front wheel steering and the target yaw velocity of the vehicle based on the rear wheel steering, the influence of the front wheel steering and the rear wheel steering on the yaw velocity of the vehicle is comprehensively considered, and the accuracy is improved.

To provide an alert system that enables an operator to easily determine dangerous actions. [Solution] An alert system including a forklift 1A and an alert unit 2, in which the forklift 1A is equipped with a sensor unit 30 that measures the load on the forks 23, the vehicle speed, and the turning angle of the rear wheels 12, a first control unit 40, and a second control unit 50, and the second control unit 50 performs a first determination process to determine that the forks 23 are in the process of removing the claws when the reversing distance of the vehicle body 10 from the point at which the load changes to a state below a predetermined first threshold is within a predetermined first distance, and a first identification process to identify that a first dangerous act has occurred when the turning angle during the claw removal operation is equal to or greater than a predetermined first angle, and the alert unit 2 issues a warning when the second control unit 50 identifies that the first dangerous act has occurred.

The invention is suitable for the technical field of automobile chassis, and provides an angle module system and a modular extensible chassis, and the angle module system adopts an unequal-length double-wishbone suspension and has good geometric kinematics characteristics. And the offset distance of the main pin is reasonably controlled through the design of steering knuckle parts. By adopting the angle module bracket, the efficient integration of the driving unit and the frame structure is realized, the number of connecting points of the angle module system and the chassis is reduced, and the serialization, integration and modularization of the chassis system are facilitated. A distributed main pin steering gear is adopted, and the geometrical shape design of upper and lower control arms of the suspension is matched, so that wheels have a larger turning angle range, and the maneuverability is improved. In addition, the modular extensible chassis adopts modular design, and the number of shafts can be flexibly configured according to carrying requirements.

The embodiment of the invention provides a distributed driving electric vehicle fault limp maneuvering enhancement control method and system, and relates to the technical field of data processing. The method comprises the steps that current vehicle parameters and hub motor fault information are obtained; calculating the current vehicle parameters based on a preset expected state estimation model to obtain a vehicle state control target; the current vehicle parameters and the vehicle state control target are calculated based on a preset optimization control model, and the direct yawing moment and the active front wheel turning angle are obtained; determining an initial torque adjustment parameter corresponding to the hub motor fault information; torque compensation distribution information is determined based on the hub motor fault information and the direct yawing moment; integrating the initial torque adjustment parameter and the torque compensation distribution information to obtain target torque adjustment information; and determining the target torque adjustment information and the active front wheel rotation angle as current control information of the distributed driving electric vehicle. The driving stability of the vehicle can be improved.

The invention provides a parking method and device and a vehicle, and can be applied to the field of intelligent driving. The method comprises the following steps: acquiring the position of a vehicle and the information of a target parking space; according to the position and the information of the target parking space, a parking path is planned, the parking path comprises a path for driving in a different-direction steering mode and a path for driving in a same-direction steering mode, and the direction of a front wheel turning angle of the vehicle is opposite to the direction of a rear wheel turning angle of the vehicle in the different-direction steering mode; the direction of a front wheel turning angle of the vehicle is the same as that of a rear wheel turning angle of the vehicle in the same-direction steering mode; and according to the first parking path, controlling the vehicle to park in the target parking space from the first position. The method can be applied to an electric automobile or an intelligent automobile, the parking efficiency of the automobile can be improved, and therefore the parking experience of a user can be improved.

The invention relates to the technical field of steam turbines, in particular to a turbine moving blade capable of strongly turning along the flow direction, a blade body part of the turbine moving blade is formed by twisting and overlapping a plurality of two-dimensional blade profiles according to a certain rule, and the blade body part has a characteristic parameter blade body height H; the contour molded line of the two-dimensional blade profile is defined by an inner arc curve and a back arc curve and has a characteristic parameter flow direction turning angle theta and the height h in the height H direction of the blade body; according to the overlapping rule of the two-dimensional blade profile, continuous and smooth transition is conducted from the root end to the top end along the blade body height H, the relative value of the blade body height H is monotonically increased to 1.0 from 0.0, and correspondingly, the absolute value of the flow direction turning angle theta is monotonically decreased to 75 degrees from 135 degrees; and in the whole blade body height H range of the blade body part, the average flow direction turning angle is 100-105 degrees. Flow direction turning angle changes of two-dimensional blade profiles with different heights are controlled, so that flow field distribution is optimized, the efficiency of a turbine stage is improved, and loss and strength are distributed along the height of a blade body in a self-adaptive mode.

The invention discloses an excavation roadway turning construction method and a roadway construction method. According to the method, the turning track is accurately controlled through geological parameter pre-research and surveying and setting-out, and the problems of relaxation and damage caused by track deviation and long surrounding rock exposure time of a traditional turning section are effectively solved in combination with pilot tunnel advanced excavation and dynamic collaborative supporting. Pilot tunnel advanced excavation reserves a space for subsequent expanded excavation, a cutting head of the integrated equipment can horizontally rotate to adapt to curve excavation, and supporting force is dynamically adjusted in cooperation with real-time scanning of surrounding rock deformation data, so that the surrounding rock exposure time in turning section construction is shortened to 5-8 minutes from 40-60 minutes of a traditional process, and the construction efficiency is improved. The wall caving and roof caving risks caused by long-time support-free exposure of the surrounding rock in the turning area are remarkably reduced, meanwhile, it is ensured that the turning radius and the turning angle are matched with the design height through a parameter correction program, and the accuracy and safety of turning section construction are improved.

The invention discloses a vehicle blind area monitoring control system and method based on the Internet of Vehicles and a vehicle, and the system comprises an image collection module, a laser radar module, an edge calculation unit, a communication module, a cloud platform and a vehicle-mounted controller, the included angle between the vehicle head and the connected trailer can be determined according to the included angle information calculated by the edge calculation unit and the steering wheel turning angle information acquired by the turning angle acquisition module, so that the vehicle-mounted controller can control the operation state of the blind area monitoring assembly of the vehicle according to the included angle. By combining the image acquisition module, the laser radar module and the Internet of Vehicles technology, the included angle between the vehicle head and the trailer can be accurately judged, so that the operation states of different blind area monitoring assemblies are accurately controlled according to the included angle, blind areas around the vehicle are effectively monitored, the limitation of single radar detection is overcome, and the detection accuracy is improved. Meanwhile, continuous operation of unnecessary blind area monitoring assemblies can be avoided, power consumption is reduced, the service life of a battery is prolonged, and the overall energy efficiency ratio of the vehicle is increased.

The invention provides a transverse stability control method and system during braking of a vehicle on a split road surface, and belongs to the technical field of vehicle transverse stability control. According to the method, the expected braking strength zd is compared with the maximum braking strength zth which can be generated by the whole vehicle on the low-adhesion road surface, and when zd is smaller than or equal to zth, the braking force at the high-adhesion position is restrained, and the difference value between the braking force at the high-adhesion position and the braking force at the low-adhesion position is reduced or even eliminated through the design of the controller; when z dgt; when zth is greater than zth, through the design of a controller, the braking force at the low attachment part is kept at a peak value, the braking force at the high attachment part is regulated and controlled, and meanwhile, the rear wheel turning angle is controlled, so that an additional yawing moment is generated, and the expected yawing moment of the whole vehicle is compensated. The invention further provides a split road surface stability comprehensive risk index, and the stability of the vehicle during braking on the split road surface is comprehensively evaluated. When the vehicle exceeds a steady state boundary, active four-wheel steering intervenes. According to the invention, the transverse stability of the vehicle during braking on the split road surface is effectively improved.

The invention discloses a rear wheel active steering control method and system and electronic equipment, and relates to the technical field of vehicle engineering.The rear wheel active steering control method comprises the steps that the required rear wheel steering angle of current steering of a vehicle is determined, and the vehicle has the rear wheel active steering function; according to the required rear wheel turning angle, the current vehicle speed, the vehicle load, the rear wheel tire pressure, the rear wheel end torque and the vehicle chassis parameters, the required rack force for active steering of the rear wheels is determined; if the required rack force exceeds the rack force threshold value, whether the vehicle is currently in a strong required steering scene or not is judged; if the vehicle is not in the strong demand steering scene currently, the demand rear wheel steering angle is limited to a steering angle boundary value, and the steering angle boundary value is the rear wheel steering angle corresponding to the rack force boundary value at the current vehicle speed; and performing active steering of the rear wheels according to the corner boundary value. By limiting the rear wheel turning angle, the required rack force is limited under the condition of normal steering of the vehicle, and the influence of the generated required rack force on the rear axle assembly during steering according to the required rear wheel turning angle is reduced.

Provided are an own-vehicle position estimation device and an own-vehicle position estimation method which are capable of estimating the position of an own vehicle with high accuracy, including not only one-dimensional distances of movement but also two-dimensional directions of cornering. There are provided a vehicle position estimation unit 2 for calculating the position of a vehicle based on an output from a sensor for detecting a behavior of the vehicle, a wireless position estimation unit 1 for communicating with a wireless device 101 installed at an arbitrary position and for calculating the relative positions of the vehicle and the wireless device 101, and a position estimation parameter correction unit 3 for correcting parameters used for calculating at least the position of the vehicle and information about the cornering angle of the vehicle by the vehicle position estimation unit 2. The position estimation parameter correction unit 3 compares an amount of movement of the vehicle calculated by the wireless position estimation unit 1 with an amount of movement of the vehicle calculated by the vehicle position estimation unit 2, and corrects the parameters.

The present invention discloses a robot mower and a control method therefor. The method comprises: controlling the robot mower to turn when detecting a boundary of a lawn or an obstacle; when controlling the robot mower to turn, obtaining a target position, the target position being determined according to an unmowed region having largest area; calculating a turning angle of the robot mower; and controlling the robot mower to turn according to the turning angle. With the goal of the unmowed region having largest area, the robot mower moves in a most unmowed possibility, so that a plurality of diverging unmowed regions quickly converge to a mowed state, and the speed of mowing the entire lawn is faster.

The invention relates to a zero offset calibration method and device for a vehicle steering wheel, a vehicle, equipment and a medium, in particular to the technical field of power systems. The method includes: controlling a vehicle to run in a preset vehicle speed range along a calibration map according to an expected turning angle; lateral deviation and actual turning angles of the vehicle at different vehicle speeds in a preset vehicle speed range are collected; according to the actual rotation angle and the expected rotation angle, zero deflection angle measurement values at different vehicle speeds are calculated; based on a preset vehicle speed range, the lateral deviation and a zero-deflection angle estimated value, establishing a correlation among the vehicle speed, the lateral deviation and the zero-deflection angle, the zero-deflection angle estimated value being calculated based on the lateral deviation and the route length of the calibration map; determining a target zero deflection angle estimated value corresponding to the actual vehicle speed and the actual transverse deviation of the vehicle according to the correlation; and filtering and fusing the target zero-deflection angle estimated value and the zero-deflection angle measured value to obtain a zero-deflection angle calibration value, so that the zero-deflection angle calibration value is automatically compensated to the issuing turning angle to control the steering of wheels.

The invention discloses a vehicle steer-by-wire redundancy control method, which belongs to the technical field of automobile steering and comprises the following steps: judging whether a current vehicle starts redundancy control or not, when the redundancy control is started to realize steering of the vehicle, enabling wheels to enter a differential steering mode I, judging whether a vehicle steering angle is consistent with a vehicle expected steering angle or not, and if yes, starting a differential steering mode II; if yes, the wheels are kept in the first differential steering mode, if not, whether the current turning angle of the vehicle changes or not is judged, if not, the wheels enter the second differential steering mode, and if yes, the wheels enter the third differential steering mode; and when the wheels enter the differential steering mode I, the differential steering mode II or the differential steering mode III, outputting the optimal left front wheel driving force and the optimal right front wheel driving force in the corresponding steering mode by utilizing the fuzzy sliding mode controller and the lower-layer controller according to the expected steering angle of the vehicle. When the steer-by-wire system loses efficacy or key components in the steering system break down, the automobile can steer stably.

The invention provides a safety protection method and device for a steering system of a three-axle all-wheel steering vehicle. Issuing the target steering mode and the target turning angle percentage of the specified shaft to a steering system through a self-driving control system of the steering vehicle; the absolute value of the difference value between the target rotation angle percentage and the actual rotation angle percentage of the specified shaft is calculated, if the absolute value is larger than a first difference value threshold value, timing is carried out, and when the timing accumulation time exceeds a first time threshold value, a fault is reported; if the difference value is smaller than the first difference value threshold value, timing is reset; the absolute value of the difference value between the actual rotation angle percentages of the left wheel and the right wheel in each shaft is calculated, if the absolute value is larger than a second difference value threshold value, timing is carried out, and when the timing accumulation time exceeds a second time threshold value, a fault is reported; if the difference value is smaller than the second difference value threshold value, timing is reset; and selecting one of the four steps for execution according to the actual steering mode. Through calculation under different steering modes, steering faults are effectively diagnosed, and safe steering of the multi-axle vehicle is ensured.

The invention provides an automatic driving method and system and a readable storage medium, and the method comprises the steps: S1, obtaining point cloud data through a laser radar, and outputting the boundary information of an obstacle; s2, acquiring vehicle position information based on a Beidou positioning module; s3, the obstacle boundary information and the vehicle position information are input into a decision-making module, driving behaviors are determined through a preset state machine, and the driving behaviors comprise driving in a lane, lane-borrowing overtaking and decelerating for giving way; s4, track planning is carried out according to the driving behavior; s5, obtaining a track for control based on the smooth path and the planned speed; s6, generating a steering wheel turning angle by adopting an LQR algorithm based on a kinematic model on the basis of a track for control, and generating an acceleration compensation instruction by adopting a double-PID controller in which a position PID and a speed PID are connected in series; and S7, the vehicle executing mechanism controls the vehicle to run through the steering wheel rotation angle and the acceleration compensation instruction.

In one scheme provided by the invention, whether a vehicle is in a preset slip working condition or not is determined according to operation data of the vehicle, and if the vehicle is in the preset slip working condition, when the vehicle is determined to have a deviation condition, the vehicle is controlled to slip. Steering compensation torque is determined according to the actual yaw velocity and the vehicle speed of the vehicle, and a steering system of the vehicle is controlled based on the steering compensation torque to correct the steering wheel angle of the vehicle. In the embodiment of the invention, when the vehicle slips and deviates, the steering compensation torque is determined according to the actual yaw velocity and the vehicle speed, so that the vehicle steering angle is dynamically corrected to control the vehicle to steer instantly, the road holding force of the wheels is fully utilized to correct the vehicle deviation phenomenon, and the method is suitable for a common road surface and also suitable for a split road surface; and the stability of the vehicle is improved, so that safety accidents are reduced.

The invention relates to a motor parking method and system, vehicle-mounted equipment, a computer readable storage medium and a vehicle. The automatic parking method comprises the steps that S1, a vehicle is indicated to run according to a first track arc; s2, when the vehicle reaches the first position of the first track arc, the vehicle is indicated to run according to a first return curve, and the steering wheel angle of the vehicle is continuously adjusted, so that when the vehicle runs to the tail end of the first return curve, the steering wheel angle corresponds to a second track arc; and S3, when the vehicle runs to the tail end of the first return curve, the vehicle is indicated to run according to a second track arc, a plurality of track arcs are determined in the parking process of the vehicle, and each track arc corresponds to one steering wheel turning angle.

A trampoline includes an elastic plate and a supporting unit, wherein the elastic plate includes a first end and a second end, and a portion, located between the first end and the second end, of the elastic plate is an elastic energy accumulator; the supporting unit includes supporting bodies arranged at the first end and the second end of the elastic plate, and the supporting bodies are capable of supporting the elastic plate and tensioning the first end and the second end of the elastic plate; during bending deformation of the elastic plate, the first end generates a symmetrical turning angle change with respect to the second end; during deformation recovering of the elastic plate, the supporting bodies apply reset force to the first end and the second end by utilizing the potential energy.

The invention discloses a steering mode switching method based on an intelligent electric vehicle. An information acquisition module based on a wireless vehicle sensing system, a driving state comprehensive evaluation module, a steering mode selection module and a steering driving unit execution module are included. The information acquisition module based on the wireless vehicle sensing system is used for acquiring multi-dimensional information such as vehicle and driver states; the driving state comprehensive evaluation module combines a vehicle driving state factor, a road condition and environment factor, a driver behavior and reaction factor, a tire dynamic characteristic factor and a vehicle dynamic stability factor to construct a full-connection neural network model, and outputs a driving state comprehensive evaluation factor; the steering mode selection module selects a front-wheel steering mode, a four-wheel steering mode or an oblique steering mode according to the size relationship between the driving state comprehensive evaluation factor and each steering mode threshold value; and the steering driving unit execution module calculates the turning angle of each wheel and controls the action of each wheel according to the selected mode.