Vehicle control method and system, vehicle, and storage medium

Abstract

The present application discloses a vehicle control method and system, a vehicle, and a storage medium. The vehicle control method comprises: acquiring an in-place U-turn control instruction; and in response to the in-place U-turn control instruction, on the basis of in-place U-turn control parameters, controlling a vehicle to perform an in-place U-turn and determining a U-turn result, wherein the in-place U-turn control parameters comprise a set direction, a set rotation speed and a set turning angle, the set direction includes a clockwise direction or a counterclockwise direction, the set rotation speed is an angular velocity at which the vehicle turns around a U-turn center, and the set turning angle is an included angle between a current position and a target position of the vehicle front. The present disclosure solves the technical problem in the prior art that in-place U-turn control strategies lack control diversity and cannot meet user requirements.

Description

Vehicle control methods, systems, vehicles and storage media Technical Field

[0001] This disclosure pertains to the field of hybrid vehicle technology, and more specifically, relates to a vehicle control method, system, vehicle, and storage medium. Background Technology

[0002] Distributed four-wheel drive, also known as a distributed all-wheel drive system, is a vehicle drive technology that allows all four wheels of a vehicle to receive power independently, thereby improving the vehicle's traction, stability, and handling. In a distributed four-wheel drive system, each wheel is powered by an independent drive unit (usually an electric motor), rather than transmitting power from the engine to all wheels via a traditional driveshaft.

[0003] The ability to make a U-turn typically relies on independent four-wheel drive. Here's how it works: First, there's independent four-wheel control. In a distributed four-wheel drive system, each wheel is driven by an independent motor, allowing for individual control of the speed and torque of each wheel. Second, the wheels rotate in opposite directions. To make a U-turn, the system rotates the left and right wheels of the vehicle in opposite directions, but at a low speed.

[0004] Furthermore, existing on-the-spot U-turn control strategies lack control diversity and cannot meet user needs. Summary of the Invention

[0005] This disclosure provides a vehicle control method, system, vehicle, and storage medium to at least address the technical problem that existing U-turn control strategies lack control diversity and fail to meet user needs.

[0006] According to a first aspect of the present disclosure, a vehicle control method is provided, comprising: acquiring a U-turn control command; responding to the U-turn control command, controlling the vehicle to perform a U-turn based on U-turn control parameters and determining the U-turn result, wherein the U-turn control parameters include a set direction, a set speed, and a set angle, the set direction being a clockwise or counterclockwise direction, the set speed being the angular velocity of the vehicle deflecting around the U-turn center, and the set angle being the angle between the current position of the vehicle's front and the target position.

[0007] Optionally, in response to a U-turn control command, the vehicle is controlled to perform a U-turn and the U-turn result is determined according to the U-turn control parameters, including: in response to a U-turn control command, disabling vehicle functions in a preset function list to obtain a disabling result; in response to the disabling result indicating that the vehicle functions in the preset function list are successfully disabled, the vehicle is controlled to perform a U-turn and the U-turn result is determined according to the U-turn control parameters.

[0008] Optionally, in response to a U-turn control command, the vehicle is controlled to perform a U-turn in place and the U-turn result is determined according to the U-turn control parameters, including: in response to a U-turn control command, controlling the steering wheel angle in the vehicle to zero and controlling the vehicle's gear to switch to forward gear; in response to the steering wheel angle in the vehicle being zero and the vehicle being in forward gear, the vehicle is controlled to perform a U-turn in place and the U-turn result is determined according to the U-turn control parameters.

[0009] Optionally, in response to a U-turn control command, the vehicle is controlled to perform a U-turn in place and the U-turn result is determined according to the U-turn control parameters, including: in response to a U-turn control command, determining the vehicle wheel speed according to a set speed and a preset speed comparison table; and controlling the vehicle to perform a U-turn in place and determining the U-turn result according to the vehicle wheel speed, set direction, and set turning angle.

[0010] Optionally, in response to a turn-around control command, the vehicle wheel speed is determined according to a set speed and a preset speed comparison table, including: determining the initial motor speed according to the set speed and the preset speed comparison table; and determining the vehicle wheel speed according to the initial motor speed and the preset speed ratio between the motor and the wheel end.

[0011] Optionally, the vehicle wheel speed is determined based on the initial motor speed and the preset speed ratio between the motor and the wheel end, including: obtaining the vehicle's yaw rate; comparing the vehicle's yaw rate with the expected yaw rate to obtain a comparison result; adjusting the initial motor speed based on the comparison result to determine the adjusted torque; and determining the vehicle wheel speed based on the adjusted torque and the preset speed ratio.

[0012] Optionally, the U-turn result includes expected termination and unexpected termination. Expected termination includes termination due to driver intervention, while unexpected termination includes termination due to malfunction, overheating of the electric drive system, excessive gradient, collision risk, and misoperation.

[0013] Optionally, determining the U-turn result includes: obtaining the vehicle's current yaw angle; in response to the difference between the current yaw angle and the set turning angle being less than a preset angle threshold, controlling the vehicle's output torque to decrease until the current yaw angle equals the preset angle threshold, and determining that the U-turn is completed.

[0014] According to a second aspect of the present disclosure, a vehicle control system is also provided, comprising: an acquisition module configured to acquire a U-turn control command; and a control module configured to, in response to the U-turn control command, control the vehicle to perform a U-turn and determine the U-turn result based on U-turn control parameters, wherein the U-turn control parameters include a set direction, a set speed, and a set angle, the set direction being either clockwise or counterclockwise, the set speed being the angular velocity of the vehicle deflecting around the U-turn center, and the set angle being the angle between the current position of the vehicle's front end and the target position.

[0015] Optionally, the control module is also configured to: in response to a U-turn control command, disable vehicle functions in a preset function list and obtain a disabling result; in response to the disabling result indicating that the vehicle functions in the preset function list have been successfully disabled, control the vehicle to perform a U-turn and determine the U-turn result based on the U-turn control parameters.

[0016] Optionally, the control module is also configured to: in response to a U-turn control command, control the steering wheel angle in the vehicle to zero and control the vehicle gear to switch to forward gear; in response to the steering wheel angle in the vehicle being zero and the vehicle gear being forward gear, control the vehicle to perform a U-turn in place according to the U-turn control parameters and determine the U-turn result.

[0017] Optionally, the control module is also configured to: respond to a U-turn control command, determine the vehicle wheel speed according to a set speed and a preset speed comparison table; and control the vehicle to perform a U-turn and determine the U-turn result according to the vehicle wheel speed, set direction and set turning angle.

[0018] Optionally, the control module is also configured to: determine the initial motor speed according to a set speed and a preset speed comparison table; and determine the vehicle wheel speed according to the initial motor speed and the preset speed ratio between the motor and the wheel end.

[0019] Optionally, the control module is also configured to: acquire the vehicle's yaw rate; compare the vehicle's yaw rate with the expected yaw rate to obtain a comparison result; adjust the initial speed of the motor according to the comparison result to determine the adjusted torque; and determine the vehicle's wheel speed according to the adjusted torque and the preset speed ratio.

[0020] Optionally, the U-turn result determined by the control module includes expected termination and unexpected termination. Expected termination includes termination by driver intervention, while unexpected termination includes termination due to malfunction, overheating of the electric drive system, excessive gradient, collision risk, and misoperation.

[0021] Optionally, the control module is also configured to: obtain the current deflection angle of the vehicle; and, in response to the difference between the current deflection angle and the set angle being less than a preset angle threshold, control the output torque of the vehicle to decrease until the current deflection angle equals the preset angle threshold, and confirm that the turn-around is complete.

[0022] According to a third aspect of the present disclosure, a vehicle is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the vehicle control method described in any of the embodiments of the first aspect above.

[0023] According to a fourth aspect of the present disclosure, a non-volatile storage medium is also provided, wherein a computer program is stored in the non-volatile storage medium, and the computer program is configured to execute the vehicle control method described in any of the embodiments of the first aspect when run on a computer or processor.

[0024] According to a fifth aspect of the present disclosure, a computer program product is also provided, including a computer program that, when executed by a processor, implements the vehicle control method described in any of the embodiments of the first aspect.

[0025] In this embodiment, a U-turn control command is first obtained. In response to the U-turn control command, the vehicle is controlled to perform a U-turn based on the U-turn control parameters, and the U-turn result is determined. The U-turn control parameters include a set direction, a set speed, and a set angle. The set direction is either clockwise or counterclockwise, the set speed is the angular velocity of the vehicle's rotation around the U-turn center, and the set angle is the angle between the current position of the vehicle's front and the target position. This disclosure, by setting the direction, angle, and speed of the U-turn, can achieve diversified control of the U-turn function, thereby solving the technical problem that existing U-turn control strategies lack control diversity and cannot meet user needs. Attached Figure Description

[0026] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this disclosure, illustrate exemplary embodiments of the present disclosure and are used to explain the disclosure, but do not constitute an undue limitation of the disclosure. In the drawings:

[0027] Figure 1 is a flowchart of a vehicle control method according to one embodiment of the present disclosure;

[0028] Figure 2 is a flowchart illustrating a vehicle control method according to one embodiment of the present disclosure;

[0029] Figure 3 is a schematic diagram of the principle of turning around in place according to one embodiment of the present disclosure;

[0030] Figure 4 is a schematic diagram of a motor speed regulation process according to one embodiment of the present disclosure;

[0031] Figure 5 is a structural block diagram of a vehicle control system according to one embodiment of the present disclosure. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present disclosure, the technical solutions of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present disclosure, and not all embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present disclosure.

[0033] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] According to an embodiment of this disclosure, an embodiment of a vehicle control method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system containing at least one set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0035] This method embodiment can also be executed in an electronic device including a memory and a processor, a similar control device, or in the cloud. Taking an electronic device as an example, the electronic device may include one or more processors and a memory for storing data. Optionally, the electronic device may also include a communication device for communication functions and a display device. Those skilled in the art will understand that the above structural description is merely illustrative and does not limit the structure of the electronic device. For example, the electronic device may include more or fewer components than described above, or have a different configuration than described above.

[0036] A processor may include one or more processing units. For example, a processor may include a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a field-programmable gate array (FPGA), a neural network processing unit (NPU), a tensor processing unit (TPU), or an artificial intelligence (AI) processor. Different processing units may be independent components or integrated into one or more processors. In some instances, electronic devices may also include one or more processors.

[0037] The memory is configured to store computer programs, such as the computer program corresponding to the vehicle control method in this embodiment of the present disclosure. The processor implements the vehicle control method by running the computer program stored in the memory. The memory may include high-speed random access memory (RAM) and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include memory remotely located relative to the processor, which can be connected to electronic devices via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks (LANs), mobile communication networks, and combinations thereof.

[0038] The communication device is configured to receive or transmit data via a network. Specific examples of the network mentioned above may include a wireless network provided by the mobile terminal's communication provider. In one example, the communication device includes a network interface controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the communication device may be a radio frequency (RF) module, configured to communicate with the Internet wirelessly. In some embodiments of this solution, the communication device is configured to connect to mobile devices such as mobile phones and tablets, enabling the mobile device to send commands to the electronic device.

[0039] The display device can be a touchscreen liquid crystal display (LCD) or a touch display (also referred to as a "touchscreen" or "touch display screen"). The LCD allows a user to interact with the user interface of the electronic device. In some embodiments, the electronic device has a graphical user interface (GUI), which allows the user to interact with the GUI by touching a touch-sensitive surface with fingers and / or gestures. Executable instructions for performing these human-computer interaction functions are configured / stored in one or more processor-executable computer program products or readable storage media.

[0040] Figure 1 is a flowchart of a vehicle control method according to one embodiment of the present disclosure, which is applied to a hybrid vehicle. As shown in Figure 1, the method includes the following steps:

[0041] Step S101: Obtain the control command for turning around in place.

[0042] Step S102: In response to the U-turn control command, the vehicle is controlled to make a U-turn in place according to the U-turn control parameters and the U-turn result is determined. The U-turn control parameters include a set direction, a set speed, and a set angle. The set direction is either clockwise or counterclockwise. The set speed is the angular velocity of the vehicle around the U-turn center. The set angle is the angle between the current position of the vehicle and the target position.

[0043] In this embodiment, a U-turn control command is first obtained. In response to the U-turn control command, the vehicle is controlled to perform a U-turn based on the U-turn control parameters, and the U-turn result is determined. The U-turn control parameters include a set direction, a set speed, and a set angle. The set direction is either clockwise or counterclockwise, the set speed is the angular velocity of the vehicle's rotation around the U-turn center, and the set angle is the angle between the current position of the vehicle's front and the target position. This disclosure, by setting the direction, angle, and speed of the U-turn, can achieve diversified control of the U-turn function, thereby solving the technical problem that existing U-turn control strategies lack control diversity and cannot meet user needs.

[0044] Optionally, in response to a U-turn control command, the vehicle is controlled to perform a U-turn and the U-turn result is determined according to the U-turn control parameters, including: in response to a U-turn control command, disabling vehicle functions in a preset function list to obtain a disabling result; in response to the disabling result indicating that the vehicle functions in the preset function list are successfully disabled, the vehicle is controlled to perform a U-turn and the U-turn result is determined according to the U-turn control parameters.

[0045] Optionally, in response to a U-turn control command, the vehicle is controlled to perform a U-turn in place and the U-turn result is determined according to the U-turn control parameters, including: in response to a U-turn control command, controlling the steering wheel angle in the vehicle to zero and controlling the vehicle's gear to switch to forward gear; in response to the steering wheel angle in the vehicle being zero and the vehicle being in forward gear, the vehicle is controlled to perform a U-turn in place and the U-turn result is determined according to the U-turn control parameters.

[0046] Optionally, in response to a U-turn control command, the vehicle is controlled to perform a U-turn in place and the U-turn result is determined according to the U-turn control parameters, including: in response to a U-turn control command, determining the vehicle wheel speed according to a set speed and a preset speed comparison table; and controlling the vehicle to perform a U-turn in place and determining the U-turn result according to the vehicle wheel speed, set direction, and set turning angle.

[0047] Optionally, in response to a turn-around control command, the vehicle wheel speed is determined according to a set speed and a preset speed comparison table, including: determining the initial motor speed according to the set speed and the preset speed comparison table; and determining the vehicle wheel speed according to the initial motor speed and the preset speed ratio between the motor and the wheel end.

[0048] Optionally, the vehicle wheel speed is determined based on the initial motor speed and the preset speed ratio between the motor and the wheel end, including: obtaining the vehicle's yaw rate; comparing the vehicle's yaw rate with the expected yaw rate to obtain a comparison result; adjusting the initial motor speed based on the comparison result to determine the adjusted torque; and determining the vehicle wheel speed based on the adjusted torque and the preset speed ratio.

[0049] Optionally, the U-turn result includes expected termination and unexpected termination. Expected termination includes termination due to driver intervention, while unexpected termination includes termination due to malfunction, overheating of the electric drive system, excessive gradient, collision risk, and misoperation.

[0050] Optionally, determining the U-turn result includes: obtaining the vehicle's current yaw angle; in response to the difference between the current yaw angle and the set turning angle being less than a preset angle threshold, controlling the vehicle's output torque to decrease until the current yaw angle equals the preset angle threshold, and determining that the U-turn is completed.

[0051] For example, referring to Figure 2, the specific implementation of the above embodiment is as follows:

[0052] The vehicle control method includes setting control commands before function activation, disabling some functions and providing information reminders when the function is activated, taking over some basic operations of the vehicle when the function is started, parsing the driver's settings parameters, adjusting torque based on slip ratio and gradient, detecting expected and unexpected termination conditions, providing information interaction prompts for expected and unexpected function termination, and adjusting end torque, among other functions.

[0053] Command Settings: In the control interface for making a U-turn, the driver can set relevant commands, including: direction, engine speed, and turning angle. Direction refers to whether the vehicle turns clockwise or counter-clockwise; engine speed refers to the angular velocity of the vehicle around its center, with five speed levels selectable from low to high, each corresponding to a different angular velocity; turning angle refers to setting the angle between the current position and the target position, measured in degrees, with a range of 360 degrees and an accuracy of 1 degree.

[0054] Function Activation: After completing the above operations, the driver clicks the "Start" button to activate the U-turn function. The instrument panel or central control screen will display a message: "U-turn is about to begin. Do not shift gears. You can take control of the vehicle by pressing the brake or operating the steering wheel." At the same time, the functions shown in Table 1 will be deactivated.

[0055] Table 1

[0056] Steering return to center: The system controls the steering wheel to adjust the steering angle to 0 degrees, so that the wheels are facing straight ahead, that is, parallel to the direction of the car's front.

[0057] Gear shifting: The system controls the transmission to shift to D gear, which facilitates the calculation of output torque.

[0058] Determining wheel steering: The system combines the driver's set "direction" command to determine the steering of the left and right wheels. When the direction is set to "clockwise", the left wheel turns forward and the right wheel turns backward; similarly, when the direction is set to "counterclockwise", the left wheel turns backward and the right wheel turns forward, as shown in Figure 3.

[0059] Determining vehicle wheel speed: The system determines the wheel speed based on the "speed" gear selected by the driver above. The equivalent deflection time corresponding to the 5 gears is shown in Table 2. The initial wheel speed can be calculated using n1 = n0 / i. Here, n1, n0, and i represent the wheel speed, the initial motor speed, and the speed ratio from the motor to the wheel, respectively.

[0060] Table 2

[0061] Incorporating slip ratio adjustment: The process of turning around on the spot involves the tires sliding and rubbing against the ground, essentially a "hard friction" between the tires and the ground. However, different road surfaces have different coefficients of adhesion, resulting in varying slip ratios between the tires and different surfaces. This means that the initial wheel speed may not achieve the expected equivalent yaw rate or equivalent yaw time. Therefore, it is necessary to incorporate slip ratio to apply negative feedback adjustment to the initial speed of each wheel, that is, to dynamically adjust the output torque of each drive motor to maintain and stabilize the vehicle's yaw speed at the angular velocity of the current gear, as shown in Figure 4.

[0062] First, the vehicle's VCU (Vehicle Control Unit) determines the wheel-end speed based on the driver's current gear position. Then, the VCU sends a motor speed command, and the motor responds to the VCU's speed request, bringing the wheels to the required speed. Next, the VCU acquires the vehicle's current yaw rate. If the yaw rate is lower than expected, the VCU increases the motor speed request to the target value; if the yaw rate is higher than expected, the VCU decreases the motor speed request to the target value.

[0063] Unexpected termination: This refers to the U-turn function being forced to terminate due to an unplanned obstacle during its operation. This includes termination due to malfunction, overheating of the electric drive system, excessive slope, obstacle detection, or misoperation.

[0064] The specific fault items involved in the termination due to faults are shown in Table 3:

[0065] Table 3

[0066] Overheating of the electric drive system indicates poor heat dissipation, which prevents the drive motor from operating at its rated capacity and may even pose a certain safety risk.

[0067] Excessive road slope: As the road slope increases, the drive motor will have to overcome more and more slope resistance. When the road slope is greater than X% (calibrable), the drive motor will not be able to turn around on the spot according to the predetermined requirements, and the vehicle may even be at risk of overturning.

[0068] During a U-turn, the vehicle uses millimeter-wave radar and camera imaging analysis to comprehensively determine whether there are any obstacles around the vehicle that may affect the U-turn. When a collision risk is detected, the U-turn will be terminated.

[0069] Accidental termination: During the U-turn, if any of the four doors (hood, trunk, charging port, fuel tank cap) is opened, or if the driver attempts to shift gears by operating the gear shift lever, the system will terminate the U-turn function.

[0070] When the U-turn function is terminated for different reasons, the instrument panel or central control screen will display corresponding prompts, as shown in Table 4.

[0071] Table 4

[0072] Anticipated termination: This refers to the driver's ability to actively terminate the U-turn function and take control of the vehicle during the process. This includes: applying a steering torque greater than x Nm (calibrable), or pressing the brake pedal. When the driver takes control and terminates the U-turn function, the instrument panel or central control screen will display a corresponding message: "You have taken control of the vehicle; the U-turn function has been deactivated."

[0073] End-of-line adjustment: When the steering angle of the vehicle's front end is less than θ (calibrable) from the target steering angle set by the driver, the system will gradually reduce the output torque through PI adjustment to prevent the vehicle from jerking when it reaches the target steering angle, thereby improving driving comfort.

[0074] Reaching the target turning angle: When the vehicle deviates to the set target angle, it signifies that the U-turn has been successfully completed, and the U-turn function will automatically disengage.

[0075] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this disclosure.

[0076] This embodiment also provides a vehicle control system configured to implement the above embodiments and preferred embodiments, and details already described will not be repeated. As used below, the term "module" refers to a combination of software and / or hardware capable of performing a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0077] Figure 5 is a structural block diagram of a vehicle control system 200 according to one embodiment of the present disclosure. As shown in Figure 5, the vehicle control system 200 is used as an example, including: an acquisition module 201, configured to acquire a U-turn control command; and a control module 202, configured to respond to the U-turn control command, control the vehicle to perform a U-turn and determine the U-turn result according to the U-turn control parameters. The U-turn control parameters include a set direction, a set speed, and a set angle. The set direction is a clockwise or counterclockwise direction, the set speed is the angular velocity of the vehicle deflecting around the U-turn center, and the set angle is the angle between the current position of the vehicle and the target position.

[0078] Optionally, the control module 202 is further configured to: in response to the in-situ turn control command, disable the vehicle functions in the preset function list and obtain the disable result; in response to the disable result indicating that the vehicle functions in the preset function list are successfully disabled, control the vehicle to perform an in-situ turn according to the in-situ turn control parameters and determine the turn result.

[0079] Optionally, the control module 202 is also configured to: in response to a U-turn control command, control the steering wheel angle in the vehicle to zero and control the vehicle gear to switch to forward gear; in response to the steering wheel angle in the vehicle being zero and the vehicle gear being forward gear, control the vehicle to perform a U-turn in place according to the U-turn control parameters and determine the U-turn result.

[0080] Optionally, the control module 202 is also configured to: respond to a turn-around control command, determine the vehicle wheel speed according to a set rotation speed and a preset rotation speed comparison table; and control the vehicle to perform a turn-around and determine the turn-around result according to the vehicle wheel speed, set direction and set turning angle.

[0081] Optionally, the control module 202 is also configured to: determine the initial speed of the motor according to a set speed and a preset speed comparison table; and determine the vehicle wheel speed according to the initial speed of the motor and the preset speed ratio between the motor and the wheel end.

[0082] Optionally, the control module 202 is also configured to: acquire the yaw rate of the vehicle; compare the yaw rate of the vehicle with the expected yaw rate to obtain the comparison result; adjust the initial speed of the motor according to the comparison result to determine the adjusted torque; and determine the wheel speed of the vehicle according to the adjusted torque and the preset speed ratio.

[0083] Optionally, the U-turn result determined by the control module 202 includes expected termination and unexpected termination. Expected termination includes termination due to driver intervention, while unexpected termination includes termination due to malfunction, termination due to overheating of the electric drive system, termination due to excessive gradient, termination due to collision risk, and termination due to misoperation.

[0084] Optionally, the control module is also configured to: obtain the current deflection angle of the vehicle; and, in response to the difference between the current deflection angle and the set angle being less than a preset angle threshold, control the output torque of the vehicle to decrease until the current deflection angle equals the preset angle threshold, and confirm that the turn-around is complete.

[0085] Embodiments of this disclosure also provide a vehicle including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the vehicle control method described in any of the above embodiments.

[0086] Optionally, in this embodiment, the processor in the vehicle can be configured to run a computer program to perform the following steps:

[0087] Step S101: Obtain the control command for turning around in place.

[0088] Step S102: In response to the U-turn control command, the vehicle is controlled to make a U-turn in place according to the U-turn control parameters and the U-turn result is determined. The U-turn control parameters include a set direction, a set speed, and a set angle. The set direction is either clockwise or counterclockwise. The set speed is the angular velocity of the vehicle around the U-turn center. The set angle is the angle between the current position of the vehicle and the target position.

[0089] Optionally, in response to a U-turn control command, the vehicle is controlled to perform a U-turn and the U-turn result is determined according to the U-turn control parameters, including: in response to a U-turn control command, disabling vehicle functions in a preset function list to obtain a disabling result; in response to the disabling result indicating that the vehicle functions in the preset function list are successfully disabled, the vehicle is controlled to perform a U-turn and the U-turn result is determined according to the U-turn control parameters.

[0090] Optionally, in response to a U-turn control command, the vehicle is controlled to perform a U-turn in place and the U-turn result is determined according to the U-turn control parameters, including: in response to a U-turn control command, controlling the steering wheel angle in the vehicle to zero and controlling the vehicle's gear to switch to forward gear; in response to the steering wheel angle in the vehicle being zero and the vehicle being in forward gear, the vehicle is controlled to perform a U-turn in place and the U-turn result is determined according to the U-turn control parameters.

[0091] Optionally, in response to a U-turn control command, the vehicle is controlled to perform a U-turn in place and the U-turn result is determined according to the U-turn control parameters, including: in response to a U-turn control command, determining the vehicle wheel speed according to a set speed and a preset speed comparison table; and controlling the vehicle to perform a U-turn in place and determining the U-turn result according to the vehicle wheel speed, set direction, and set turning angle.

[0092] Optionally, in response to a turn-around control command, the vehicle wheel speed is determined according to a set speed and a preset speed comparison table, including: determining the initial motor speed according to the set speed and the preset speed comparison table; and determining the vehicle wheel speed according to the initial motor speed and the preset speed ratio between the motor and the wheel end.

[0093] Optionally, the vehicle wheel speed is determined based on the initial motor speed and the preset speed ratio between the motor and the wheel end, including: obtaining the vehicle's yaw rate; comparing the vehicle's yaw rate with the expected yaw rate to obtain a comparison result; adjusting the initial motor speed based on the comparison result to determine the adjusted torque; and determining the vehicle wheel speed based on the adjusted torque and the preset speed ratio.

[0094] Optionally, the U-turn result includes expected termination and unexpected termination. Expected termination includes termination due to driver intervention, while unexpected termination includes termination due to malfunction, overheating of the electric drive system, excessive gradient, collision risk, and misoperation.

[0095] Optionally, determining the U-turn result includes: obtaining the vehicle's current yaw angle; in response to the difference between the current yaw angle and the set turning angle being less than a preset angle threshold, controlling the vehicle's output torque to decrease until the current yaw angle equals the preset angle threshold, and determining that the U-turn is completed.

[0096] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0097] Embodiments of this disclosure also provide a non-volatile storage medium storing a computer program, wherein the computer program is configured to execute the vehicle control method described in any of the above embodiments when run on a computer or processor.

[0098] Optionally, in this embodiment, the computer program described above may be configured to store a computer program for performing the following steps:

[0099] Step S101: Obtain the control command for turning around in place.

[0100] Step S102: In response to the U-turn control command, the vehicle is controlled to make a U-turn in place according to the U-turn control parameters and the U-turn result is determined. The U-turn control parameters include a set direction, a set speed, and a set angle. The set direction is either clockwise or counterclockwise. The set speed is the angular velocity of the vehicle around the U-turn center. The set angle is the angle between the current position of the vehicle and the target position.

[0101] Optionally, in response to a U-turn control command, the vehicle is controlled to perform a U-turn and the U-turn result is determined according to the U-turn control parameters, including: in response to a U-turn control command, disabling vehicle functions in a preset function list to obtain a disabling result; in response to the disabling result indicating that the vehicle functions in the preset function list are successfully disabled, the vehicle is controlled to perform a U-turn and the U-turn result is determined according to the U-turn control parameters.

[0102] Optionally, in response to a U-turn control command, the vehicle is controlled to perform a U-turn in place and the U-turn result is determined according to the U-turn control parameters, including: in response to a U-turn control command, controlling the steering wheel angle in the vehicle to zero and controlling the vehicle's gear to switch to forward gear; in response to the steering wheel angle in the vehicle being zero and the vehicle being in forward gear, the vehicle is controlled to perform a U-turn in place and the U-turn result is determined according to the U-turn control parameters.

[0103] Optionally, in response to a U-turn control command, the vehicle is controlled to perform a U-turn in place and the U-turn result is determined according to the U-turn control parameters, including: in response to a U-turn control command, determining the vehicle wheel speed according to a set speed and a preset speed comparison table; and controlling the vehicle to perform a U-turn in place and determining the U-turn result according to the vehicle wheel speed, set direction, and set turning angle.

[0104] Optionally, in response to a turn-around control command, the vehicle wheel speed is determined according to a set speed and a preset speed comparison table, including: determining the initial motor speed according to the set speed and the preset speed comparison table; and determining the vehicle wheel speed according to the initial motor speed and the preset speed ratio between the motor and the wheel end.

[0105] Optionally, the vehicle wheel speed is determined based on the initial motor speed and the preset speed ratio between the motor and the wheel end, including: obtaining the vehicle's yaw rate; comparing the vehicle's yaw rate with the expected yaw rate to obtain a comparison result; adjusting the initial motor speed based on the comparison result to determine the adjusted torque; and determining the vehicle wheel speed based on the adjusted torque and the preset speed ratio.

[0106] Optionally, the U-turn result includes expected termination and unexpected termination. Expected termination includes termination due to driver intervention, while unexpected termination includes termination due to malfunction, overheating of the electric drive system, excessive gradient, collision risk, and misoperation.

[0107] Optionally, determining the U-turn result includes: obtaining the vehicle's current yaw angle; in response to the difference between the current yaw angle and the set turning angle being less than a preset angle threshold, controlling the vehicle's output torque to decrease until the current yaw angle equals the preset angle threshold, and determining that the U-turn is completed.

[0108] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0109] Embodiments of this disclosure also provide a computer program product, including a computer program that, when executed by a processor, implements the vehicle energy consumption management method described in any of the above embodiments.

[0110] Optionally, in this embodiment, the computer program, when executed by the processor, performs the following steps:

[0111] Step S101: Obtain the control command for turning around in place.

[0112] Step S102: In response to the U-turn control command, the vehicle is controlled to make a U-turn in place according to the U-turn control parameters and the U-turn result is determined. The U-turn control parameters include a set direction, a set speed, and a set angle. The set direction is either clockwise or counterclockwise. The set speed is the angular velocity of the vehicle around the U-turn center. The set angle is the angle between the current position of the vehicle and the target position.

[0113] Optionally, in response to a U-turn control command, the vehicle is controlled to perform a U-turn and the U-turn result is determined according to the U-turn control parameters, including: in response to a U-turn control command, disabling vehicle functions in a preset function list to obtain a disabling result; in response to the disabling result indicating that the vehicle functions in the preset function list are successfully disabled, the vehicle is controlled to perform a U-turn and the U-turn result is determined according to the U-turn control parameters.

[0114] Optionally, in response to a U-turn control command, the vehicle is controlled to perform a U-turn in place and the U-turn result is determined according to the U-turn control parameters, including: in response to a U-turn control command, controlling the steering wheel angle in the vehicle to zero and controlling the vehicle's gear to switch to forward gear; in response to the steering wheel angle in the vehicle being zero and the vehicle being in forward gear, the vehicle is controlled to perform a U-turn in place and the U-turn result is determined according to the U-turn control parameters.

[0115] Optionally, in response to a U-turn control command, the vehicle is controlled to perform a U-turn in place and the U-turn result is determined according to the U-turn control parameters, including: in response to a U-turn control command, determining the vehicle wheel speed according to a set speed and a preset speed comparison table; and controlling the vehicle to perform a U-turn in place and determining the U-turn result according to the vehicle wheel speed, set direction, and set turning angle.

[0116] Optionally, in response to a turn-around control command, the vehicle wheel speed is determined according to a set speed and a preset speed comparison table, including: determining the initial motor speed according to the set speed and the preset speed comparison table; and determining the vehicle wheel speed according to the initial motor speed and the preset speed ratio between the motor and the wheel end.

[0117] Optionally, the vehicle wheel speed is determined based on the initial motor speed and the preset speed ratio between the motor and the wheel end, including: obtaining the vehicle's yaw rate; comparing the vehicle's yaw rate with the expected yaw rate to obtain a comparison result; adjusting the initial motor speed based on the comparison result to determine the adjusted torque; and determining the vehicle wheel speed based on the adjusted torque and the preset speed ratio.

[0118] Optionally, the U-turn result includes expected termination and unexpected termination. Expected termination includes termination due to driver intervention, while unexpected termination includes termination due to malfunction, overheating of the electric drive system, excessive gradient, collision risk, and misoperation.

[0119] Optionally, determining the U-turn result includes: obtaining the vehicle's current yaw angle; in response to the difference between the current yaw angle and the set turning angle being less than a preset angle threshold, controlling the vehicle's output torque to decrease until the current yaw angle equals the preset angle threshold, and determining that the U-turn is completed.

[0120] In the above embodiments of this disclosure, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0121] In the embodiments provided in this disclosure, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of modules can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through interfaces, or indirect couplings or communication connections between modules, and may be electrical or other forms.

[0122] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0123] Furthermore, the functional modules in the various embodiments of this disclosure can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0124] If the integrated module is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0125] The above description is only a preferred embodiment of this disclosure. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principles of this disclosure, and these improvements and modifications should also be considered within the scope of protection of this disclosure.

Claims

1. A vehicle control method, comprising: Obtain the control command to turn around on the spot; In response to the on-the-spot U-turn control command, the vehicle is controlled to perform an on-the-spot U-turn according to the on-the-spot U-turn control parameters and the U-turn result is determined. The on-the-spot U-turn control parameters include a set direction, a set speed, and a set angle. The set direction is either clockwise or counterclockwise. The set speed is the angular velocity of the vehicle deflecting around the U-turn center. The set angle is the angle between the current position of the vehicle's front and the target position.

2. The vehicle control method according to claim 1, wherein The response to the in-situ U-turn control command, based on the in-situ U-turn control parameters, controls the vehicle to perform an in-situ U-turn and determines the U-turn result, including: In response to the in-situ U-turn control command, the vehicle functions in the preset function list are turned off, resulting in a shutdown. In response to the shutdown result indicating that the vehicle function in the preset function list has been successfully shut down, the vehicle is controlled to perform a U-turn in place according to the U-turn control parameters, and the U-turn result is determined.

3. The vehicle control method according to claim 1, wherein The response to the in-situ U-turn control command, based on the in-situ U-turn control parameters, controls the vehicle to perform an in-situ U-turn and determines the U-turn result, including: In response to the U-turn control command, the steering wheel angle in the vehicle is controlled to be zero and the vehicle gear is switched to forward gear. In response to the steering wheel angle being zero and the vehicle being in drive, the vehicle is controlled to perform a U-turn in place according to the U-turn control parameters, and the U-turn result is determined.

4. The vehicle control method according to claim 1, wherein The response to the in-situ U-turn control command, based on the in-situ U-turn control parameters, controls the vehicle to perform an in-situ U-turn and determines the U-turn result, including: In response to the in-situ U-turn control command, the vehicle wheel speed is determined according to the set speed and the preset speed comparison table; Based on the vehicle wheel speed, the set direction, and the set turning angle, the vehicle is controlled to make a U-turn in place and the U-turn result is determined.

5. The vehicle control method according to claim 4, wherein The method of responding to the in-situ U-turn control command and determining the vehicle wheel speed according to the set rotation speed and preset rotation speed comparison table includes: Determine the initial motor speed according to the set speed and preset speed comparison table; The vehicle wheel speed is determined based on the initial speed of the motor and the preset speed ratio between the motor and the wheel end.

6. The vehicle control method according to claim 5, wherein Determining the vehicle wheel speed based on the initial speed of the motor and the preset speed ratio between the motor and the wheel end includes: Obtain the yaw rate of the vehicle; The yaw rate of the vehicle is compared with the expected yaw rate to obtain the comparison result; Based on the comparison results, the initial speed of the motor is adjusted to determine the adjusted torque; The vehicle wheel speed is determined based on the adjusted torque and the preset speed ratio.

7. The vehicle control method according to claim 1, wherein, The U-turn results include expected termination and unexpected termination. Expected termination includes termination by driver intervention, while unexpected termination includes termination due to malfunction, overheating of the electric drive system, excessive gradient, collision risk, and misoperation.

8. The vehicle control method according to claim 1, wherein, The determination of the U-turn result includes: Obtain the vehicle's current deflection angle; In response to the difference between the current deflection angle and the set turning angle being less than a preset angle threshold, the output torque of the vehicle is controlled to decrease until the current deflection angle is equal to the preset angle threshold, and the turn-around is confirmed to be completed.

9. A vehicle control system, comprising: The acquisition module is configured to acquire control commands for turning around in place. The control module is configured to respond to the on-the-spot U-turn control command, control the vehicle to perform an on-the-spot U-turn according to the on-the-spot U-turn control parameters, and determine the U-turn result. The on-the-spot U-turn control parameters include a set direction, a set speed, and a set angle. The set direction is either clockwise or counterclockwise. The set speed is the angular velocity of the vehicle deflecting around the U-turn center. The set angle is the angle between the current position of the vehicle's front and the target position.

10. A vehicle comprising a memory and a processor, the memory storing a computer program, the processor being configured to run the computer program to perform the vehicle control method according to any one of claims 1 to 8.

11. A non-volatile storage medium storing a computer program, wherein, The computer program is configured to execute the vehicle control method as described in any one of claims 1 to 8 when it is run on a computer or processor.

12. A computer program product comprising a computer program that, when executed by a processor, implements the vehicle control method according to any one of claims 1 to 8.

Images