US-20260125107-A1 - STEERING MODE SWITCHING METHOD, VEHICLE AND STORAGE MEDIUM

Abstract

A vehicle performs independent control on each wheel. The method includes: determining whether an acquired desired steering mode of a user is the same as a current steering mode of the vehicle; acquiring, if the current steering mode is different from the desired steering mode, a current vehicle speed of the vehicle and a current wheel speed of each wheel, and determining whether the vehicle satisfies a steering switching condition; and switching, if the vehicle satisfies the steering switching condition, the vehicle from the current steering mode to the desired steering mode. According to the method, when a vehicle satisfies a steering switching condition, the vehicle is controlled to be switched from any steering mode to a desired mode required by a user, thereby effectively reducing steering operation burden of the user.

Inventors

• Huiyun Sun
• Xianglu MENG
• Rui Yang
• Jingwei Zhao
• Shizhao Zhang
• Jianbo Li

Assignees

• GREAT WALL MOTOR COMPANY LIMITED

Dates

Publication Date

20260507

Application Date

20251230

Priority Date

20230928

Claims (20)

1. 1 . A steering mode switching method, wherein a vehicle performs independent control on each wheel based on an electromechanical brake system, and the method comprises: acquiring a desired steering mode of a user, and determining whether a current steering mode of the vehicle is the same as the desired steering mode; acquiring, if the current steering mode is different from the desired steering mode, a current vehicle speed of the vehicle and a current wheel speed of each wheel, and determining, based on the current vehicle speed and the current wheel speed of each wheel, whether the vehicle satisfies a steering switching condition; and adjusting, if the vehicle satisfies the steering switching condition, a braking force of a plurality of wheels of the vehicle based on the desired steering mode, so that the vehicle is switched from the current steering mode to the desired steering mode.
2. 2 . The method according to claim 1 , wherein the adjusting the braking force of the plurality of wheels of the vehicle based on the desired steering mode, comprises: determining, based on the desired steering mode, a target steering angle of each wheel of the plurality of wheels; and determining, based on the target steering angle of each wheel, the braking force of each wheel, and adjusting, based on the braking force of each wheel, a steering angle of a corresponding wheel.
3. 3 . The method according to claim 2 , wherein when adjusting the steering angle of the plurality of wheels, the method further comprises: acquiring an actual steering angle of each wheel; determining whether an absolute value of a difference between the actual steering angle of any wheel and a corresponding target steering angle of the wheel is greater than a preset safety threshold; and stopping, if the absolute value of the difference between the actual steering angle of any wheel and the corresponding target steering angle of the wheel is greater than the preset safety threshold, switching the vehicle from the current steering mode to the desired steering mode.
4. 4 . The method according to claim 2 , wherein the determining, based on the desired steering mode, the target steering angle of each wheel of the plurality of wheels, comprises: acquiring the current vehicle speed of the vehicle, a current brake pedal opening, a current drive motor torque, a current steering wheel angle, the current wheel speed of each wheel, and a current rear wheel angle; and determining the target steering angle of the corresponding wheel based on the desired steering mode, the current vehicle speed, the current brake pedal opening, the current drive motor torque, the current steering wheel angle, the current wheel speed of each wheel, and the current rear wheel angle.
5. 5 . The method according to claim 2 , wherein the determining, based on the target steering angle of each wheel, the braking force of each wheel, and adjusting, based on the braking force of each wheel, the steering angle of the corresponding wheel, comprises: determining, based on the target steering angle of each wheel, a target yaw angle of the vehicle; and calculating, based on the target yaw angle and an actual yaw angle of the vehicle, the braking force of each wheel, and controlling, based on the braking force of each wheel, the corresponding wheel.
6. 6 . The method according to claim 1 , wherein after the determining, based on the current vehicle speed and the current wheel speed of each wheel, whether the vehicle satisfies the steering switching condition, the method further comprises: generating, if the vehicle fails to satisfy the steering switching condition, a steering mode switching failure reminder.
7. 7 . The method according to claim 1 , wherein the desired steering mode comprises at least one of a front-wheel steering mode, a rear-wheel steering mode, a four-wheel steering mode, an oblique movement mode, a lateral movement mode, and an in-place steering mode.
8. 8 . The method according to claim 7 , wherein in the front-wheel steering mode, the current vehicle speed of the vehicle is less than a maximum allowable vehicle speed of the vehicle; in the rear-wheel steering mode, the current vehicle speed of the vehicle is greater than or equal to 2 kph and less than or equal to 10 kph; in the four-wheel steering mode, the current vehicle speed of the vehicle is greater than or equal to 2 kph and less than or equal to 10 kph; in the oblique steering mode, the current vehicle speed of the vehicle is greater than or equal to 2 kph and less than or equal to 10 kph; in the lateral movement steering mode, the current vehicle speed of the vehicle may be greater than or equal to 2 kph and less than or equal to 10 kph; and in the in-place steering mode, the current vehicle speed of the vehicle may be greater than or equal to 2 kph and less than or equal to 10 kph.
9. 9 . The method according to claim 1 , wherein before the determining whether the current steering mode of the vehicle is the same as the desired steering mode, the method further comprises: collecting, after the vehicle is started, an environmental parameter and/or a road parameter of the vehicle; and determining, based on the environmental parameter and/or the road parameter of the vehicle, the current steering mode of the vehicle.
10. 10 . The method according to claim 1 , wherein the determining, based on the current vehicle speed and the current wheel speed of each wheel, whether the vehicle satisfies the steering switching condition, comprises: comparing the current vehicle speed and the current wheel speed of each wheel with an optimal threshold for vehicle steering mode switching; and determining, if the current vehicle speed and the current wheel speed of each wheel all fall within an optimal steering threshold range allowing the vehicle to switch steering mode, that the vehicle satisfies the steering switching conditions.
11. 11 . The method according to claim 2 , wherein the desired steering mode comprises at least one of a front-wheel steering mode, a rear-wheel steering mode, a four-wheel steering mode, an oblique movement mode, a lateral movement mode, and an in-place steering mode.
12. 12 . The method according to claim 8 , wherein the target steering angles corresponding to different steering modes vary.
13. 13 . The method according to claim 9 , wherein when the desired steering mode of the user is the front-wheel steering mode, a corresponding target steering angle of the wheel is between 0° and 40°; when the desired steering mode of the user is the rear-wheel steering mode, a corresponding target steering angle of the wheel is between 0° and 10°; when the desired steering mode of the user is the four-wheel steering mode, a corresponding target steering angle of the wheel is between 0° and 40°; when the desired steering mode of the user is the oblique movement mode, a corresponding target steering angle of the wheel is between 0° and 10°; when the desired steering mode of the user is the lateral movement mode, a corresponding target steering angle of the wheel may be between 0° and 10°; and when the desired steering mode of the user is the in-place steering mode, a corresponding target steering angle of the wheel is between 0° and 10°.
14. 14 . The method according to claim 4 , wherein the current vehicle speed is acquired through a vehicle radar speedometer.
15. 15 . The method according to claim 4 , wherein the current brake pedal opening is acquired through a pedal travel sensor.
16. 16 . The method according to claim 4 , wherein the current drive motor torque is acquired through a motor torque sensor.
17. 17 . The method according to claim 4 , wherein the current steering wheel angle is acquired through a steering wheel angle sensor.
18. 18 . The method according to claim 4 , wherein the current wheel speed of each wheel is acquired through a wheel speed sensor; and the current rear wheel angle of the vehicle is acquired through a rear wheel angle sensor.
19. 19 . A vehicle, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the steering mode switching method according to claim 1 .
20. 20 . A non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores a computer program, and when the computer program is executed, the steering mode switching method according to claim 1 is implemented.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application is a continuation of International Application No. PCT/CN2024/121931, filed on Sep. 27, 2024, which claims priority to Chinese Patent Application No. 202311281144.4, filed on Sep. 28, 2023. All of the aforementioned applications are incorporated herein by reference in their entireties. TECHNICAL FIELD The present application relates to the field of vehicle technologies, and in particular, to a steering mode switching method, vehicle and storage medium in the vehicle field. BACKGROUND With the rapid development of vehicle technology, users have increasingly high requirements for vehicle performance, application scenarios, and intelligent needs. During driving and riding, users further have increasingly high requirements for the sensitivity of vehicle steering performance. In the related art, during the process of switching the steering mode of the vehicle, the user rotates the steering wheel to control the vehicle to steer. Therefore, the user can switch between a plurality of steering modes of the vehicle by rotating the steering wheel based on road scenarios and actual driving needs. However, since the steering wheel has a large rotation angle when implementing the steering action, the working space of the rack is increased, and steering errors are likely to be caused. Therefore, further improving the steering mode switching method of the vehicle is particularly important. SUMMARY The present application provides a steering mode switching method, vehicle, and storage medium. The method enables a vehicle, when the vehicle satisfies a switching condition, to switch from any steering mode to a desired mode required by a user, thereby effectively reducing steering operation burden of the user, improving smoothness of vehicle steering and driving experience of the user. In a first aspect, a steering mode switching method is provided, wherein a vehicle performs independent control on each wheel based on an electromechanical brake system, and the method includes: acquiring a desired steering mode of a user, and determining whether a current steering mode of the vehicle is the same as the desired steering mode; acquiring, if the current steering mode is different from the desired steering mode, a current vehicle speed of the vehicle and a current wheel speed of each wheel, and determining, based on the current vehicle speed and the current wheel speed of each wheel, whether the vehicle satisfies a steering switching condition; and adjusting, if the vehicle satisfies the steering switching condition, a braking force of a plurality of wheels of the vehicle based on the desired steering mode, so that the vehicle is switched from the current steering mode to the desired steering mode. Through the above technical solution, when the current steering mode of the vehicle is different from the desired steering mode of the user, the vehicle can be controlled, based on the steering switching condition of the vehicle, to switch from the current steering mode to the desired steering mode, thereby realizing a steering requirement of the user. In a second aspect, a vehicle is provided, and the vehicle includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the steering mode switching method in the first aspect or any possible implementation of the first aspect. In a third aspect, a computer program product is provided, the computer program product includes: a computer program code, and when the computer program code is run on a computer, the computer is enabled to execute the method in the first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a flowchart of a steering mode switching method according to an embodiment of the present application. FIG. 2 is a schematic structural diagram of vehicle steering according to an embodiment of the present application. FIG. 3 is a schematic diagram of a method for calculating a target yaw angle of a vehicle according to an embodiment of the present application. FIG. 4 is a block diagram of a steering mode switching apparatus according to an embodiment of the present application. FIG. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTIONS OF THE EMBODIMENTS The technical solutions in the present application are clearly and fully described below with reference to the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, “/” means “or”, for example, A/B can mean A or B; “and/or” in the text is only a description of an association relationship of associated objects, indicating that there can be three relationships. For example, A and/or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description