Vehicle and in-place turning control method and device thereof

Abstract

The application discloses a vehicle and a method and device for controlling the vehicle to turn in place. The method comprises the following steps: in response to a turning-in-place function starting signal of the vehicle, obtaining a driving mode, a vehicle speed, a steering angle and a steering direction of the vehicle; when it is determined that the vehicle meets the turning-in-place function starting condition according to the driving mode, the vehicle speed and the steering angle, determining a target wheel according to the steering direction; and applying a braking force to the target wheel or locking the target wheel to make the vehicle turn in place. Thus, the minimum turning purpose of the vehicle can be achieved, the vehicle can more smoothly complete the turning-in-place, the turning performance of the vehicle is improved, and the problem of personal safety or property safety caused by poor turning performance of the vehicle during vehicle driving is reduced.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a vehicle and its on-the-spot steering control method and device. Background Technology

[0002] As vehicles become increasingly integrated with their occupants, they acquire more and more functions, such as entertainment and advanced mobility features. Among these, the safety and reliability of long-distance travel and the ease of off-road driving within these advanced mobility features are receiving increasing attention. When vehicles are traveling on rough roads in remote areas, the turning radius of ordinary vehicles is relatively large, and parameters related to this radius cannot be adjusted once the vehicle model is developed. In such environments, vehicles may require multiple reversing maneuvers to turn, making it difficult to navigate small curves or meet the needs of turning and making U-turns in confined spaces. This puts the vehicle in a dangerous environment, increasing the risk of traffic accidents and causing significant personal injury and property damage to occupants.

[0003] It should be noted that the information disclosed in this background section is only for understanding the background technology of the present application concept, and therefore may include information that does not constitute prior art. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the purpose of this invention is to provide a vehicle and its on-the-spot steering control method and device, which can achieve the vehicle's minimum turning objective, enabling the vehicle to complete on-the-spot turns more smoothly, improving the vehicle's turning performance, and reducing personal safety or property safety issues caused by poor vehicle turning performance during driving.

[0005] To achieve the above objectives, a first aspect of the present invention provides a method for controlling stationary steering of a vehicle. The method includes: responding to a stationary steering function activation signal of the vehicle, acquiring the vehicle's driving mode, vehicle speed, steering angle, and steering direction; when it is determined that the vehicle meets the stationary steering function activation conditions based on the driving mode, vehicle speed, and steering angle, determining a target wheel based on the steering direction; applying braking force to the target wheel or locking the target wheel to enable the vehicle to turn in place.

[0006] In some embodiments of the present invention, determining that the vehicle meets the conditions for activating the stationary steering function based on the driving mode, vehicle speed, and steering angle includes: determining that the vehicle meets the conditions for activating the stationary steering function when the driving mode is crawl mode, the vehicle speed is less than a preset vehicle speed, the steering angle is greater than a preset angle, and the duration reaches a preset time.

[0007] In some embodiments of the present invention, the preset vehicle speed is less than or equal to 20 km / h and the preset angle is greater than or equal to 90 degrees.

[0008] In some embodiments of the present invention, determining the target wheel based on the steering direction includes: if the steering direction is left turn, then determining the target wheel as the left rear wheel of the vehicle; if the steering direction is right turn, then determining the target wheel as the right rear wheel of the vehicle.

[0009] In some embodiments of the present invention, when applying braking force to the target wheel or locking the target wheel, the vehicle's stationary steering control method further includes applying driving force to the remaining wheels other than the target wheel.

[0010] To achieve the above objectives, a second aspect of the present invention provides a vehicle stationary steering control device, the device comprising: an acquisition module, configured to acquire the vehicle's driving mode, vehicle speed, steering angle, and steering direction in response to a stationary steering function activation signal; and a control module, configured to determine a target wheel based on the steering direction when the vehicle meets the stationary steering function activation conditions based on the driving mode, vehicle speed, and steering angle, and to apply braking force to the target wheel or lock the target wheel to enable the vehicle to turn in place.

[0011] In some embodiments of the present invention, the control module is specifically used to: determine that the vehicle meets the conditions for activating the stationary steering function when the driving mode is crawl mode, the vehicle speed is less than the preset vehicle speed, the steering angle is greater than the preset angle and the duration reaches the preset time.

[0012] In some embodiments of the present invention, the control module is specifically used to: determine the target wheel as the left rear wheel of the vehicle if the steering direction is left turn; and determine the target wheel as the right rear wheel of the vehicle if the steering direction is right turn.

[0013] In some embodiments of the present invention, the control module is also configured to apply driving force to the remaining wheels other than the target wheel when applying braking force to the target wheel or locking the target wheel.

[0014] To achieve the above objectives, a third aspect of the present invention provides a vehicle including a vehicle-on-the-spot steering control device of any of the above embodiments.

[0015] According to the vehicle and its stationary steering control method and device according to embodiments of the present invention, after the stationary steering function of the vehicle is activated, the vehicle's driving mode, vehicle speed, steering angle and steering direction are first acquired. Then, based on the driving mode, vehicle speed and steering angle, it is determined that the vehicle meets the conditions for activating the stationary steering function. Based on the steering direction, the target wheel is determined, and braking force is applied to the target wheel or the target wheel is locked, thereby achieving the minimum turning purpose of the vehicle. This allows the vehicle to complete stationary steering more smoothly, improves the vehicle's turning performance, and reduces personal safety or property safety problems caused by poor vehicle turning performance during vehicle driving.

[0016] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0018] Figure 1 This is a schematic flowchart of a vehicle stationary steering control method according to an embodiment of the present invention.

[0019] Figure 2 This is a structural block diagram of a vehicle's stationary steering control system according to an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the torque of each wheel when a vehicle performs a left turn in place, according to an embodiment of the present invention.

[0021] Figure 4 This is a flowchart illustrating a vehicle stationary steering control method according to another embodiment of the present invention.

[0022] Figure 5 This is a structural block diagram of a vehicle stationary steering control device according to an embodiment of the present invention.

[0023] Figure 6 This is a structural block diagram of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0024] Embodiments of the present invention are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0025] Figure 1 This is a schematic flowchart of a vehicle stationary steering control method according to an embodiment of the present invention.

[0026] like Figure 1 As shown, the vehicle's stationary steering control method may include:

[0027] S11: In response to the vehicle's stationary steering function activation signal, obtain the vehicle's driving mode, speed, steering angle, and steering direction.

[0028] It's understandable that when a vehicle performs a stationary turn, its turning effect is similar to that at the minimum turning radius. The minimum turning radius is the minimum distance between the center point of the vehicle's turning trajectory and the trajectory of the outermost steering wheel. A smaller turning radius results in better vehicle maneuverability, better adaptability to road conditions, and improved cornering and obstacle avoidance capabilities. The size of the vehicle's turning radius primarily depends on parameters such as wheelbase, track width, and maximum steering wheel angle. However, these parameters cannot be adjusted once the vehicle model development plan is finalized. Therefore, to address the turning and U-turn requirements in challenging road conditions or confined spaces, the system acquires the vehicle's driving mode, speed, steering angle, and steering direction. By comprehensively analyzing these parameters, the driver's steering intention is determined. Even when the turning radius parameters cannot be changed, braking force or wheel lock-up is applied to the target wheels to achieve the minimum turning radius, thus improving the vehicle's turning performance and obstacle avoidance capabilities.

[0029] S13: When it is determined that the vehicle meets the conditions for activating the stationary steering function based on the driving mode, vehicle speed and steering angle, the target wheel is determined based on the steering direction.

[0030] In one example, such as Figure 2 As shown, Figure 2 This is a structural block diagram of the vehicle's stationary steering control system. The stationary steering control system includes 10 units, including a control unit 101, a function switch button 102, a driving mode switch button 103, a BCM (Body Controller) unit 104, a steering system unit 105, and a function execution unit 106.

[0031] When the driver activates the vehicle's stationary steering function via function switch button 102, function switch button 102 sends a stationary steering function activation signal to control unit 101. Then, driving mode switch button 103 sends the current vehicle driving mode signal to control unit 101, BCM unit 104 sends the current vehicle speed signal to control unit 101, and steering system unit 105 sends the current vehicle steering angle and steering direction signals to control unit 101. Control unit 101 then comprehensively judges the received signals. If the driving mode signal, vehicle speed signal, and steering angle signal meet the stationary steering function activation conditions, control unit 101 sends a function execution signal to function execution unit 106, so that function execution unit 106 applies braking force to the target wheel or locks the target wheel to achieve stationary steering.

[0032] It should be noted that the control unit 101 in the vehicle's stationary steering control system can be ESC (Electronic Stability Control System), EPB (Electronic Parking Brake System), ATS (Automatic Vehicle Monitoring System), or electronic shifting system, etc.

[0033] S15: Apply braking force to the target wheels or lock the target wheels to turn the vehicle in place.

[0034] In some embodiments, when applying braking force to the target wheel or locking the target wheel, the vehicle's stationary steering control method further includes applying driving force to the remaining wheels other than the target wheel.

[0035] To successfully achieve a stationary turn, the target wheel needs to lock up as quickly as possible. When the vehicle has an anti-lock braking system (ABS), if the driver presses the accelerator pedal, the target wheel will not lock up and will still have driving torque, allowing it to continue turning. Therefore, braking force needs to be applied to the target wheel to ensure it has sufficient braking torque to enter the lock-up state as quickly as possible. Simultaneously, driving force is applied to the remaining wheels to ensure they have sufficient driving torque, thus successfully completing the stationary turn.

[0036] In the above embodiments, after the vehicle's stationary steering function is activated, the vehicle's driving mode, speed, steering angle, and steering direction are first acquired. Then, based on the driving mode, speed, and steering angle, it is determined that the vehicle meets the conditions for activating the stationary steering function. Furthermore, the target wheel is determined based on the steering direction, and braking force is applied to the target wheel or the target wheel is locked, thereby achieving the vehicle's minimum turning objective. This allows the vehicle to complete stationary steering more smoothly, improves the vehicle's turning performance, and reduces personal safety or property safety issues caused by poor vehicle turning performance during driving.

[0037] In some embodiments, determining whether the vehicle meets the conditions for activating the stationary steering function based on the driving mode, vehicle speed, and steering angle includes: determining whether the vehicle meets the conditions for activating the stationary steering function when the driving mode is crawl mode, the vehicle speed is less than a preset vehicle speed, the steering angle is greater than a preset angle, and the duration reaches a preset time.

[0038] In some embodiments, the preset vehicle speed is less than or equal to 20 km / h and the preset angle is greater than or equal to 90 degrees.

[0039] Specifically, when a vehicle performs a stationary turn or turns left or right, the speed must not be too high. Especially during a stationary turn, excessive speed can cause skidding and other traffic accidents, endangering the driver's safety. Therefore, one of the conditions for activating the stationary turn function is that the vehicle speed is lower than a preset speed. When the vehicle is in crawl mode, the driver does not need to press the accelerator or brake pedals; simply adjusting the vehicle's direction allows for smooth driving at a low speed on bumpy or slippery surfaces. Therefore, one of the conditions for activating the stationary turn function is that the vehicle's driving mode is crawl mode. When the steering wheel angle is large and the duration exceeds a preset time, it can be considered that the driver intends to turn on the spot. Therefore, one of the conditions for activating the stationary turn function is that the steering angle is greater than a preset angle and lasts for a preset time. Therefore, when all three conditions are met—the vehicle's driving mode is crawl mode, the speed is less than the preset speed, and the steering angle is greater than the preset angle and lasts for a preset time—the vehicle is deemed to have met the conditions for activating the stationary turn function.

[0040] In some embodiments, determining the target wheel based on the steering direction includes: if the steering direction is left turn, determining the target wheel as the left rear wheel of the vehicle; if the steering direction is right turn, determining the target wheel as the right rear wheel of the vehicle.

[0041] For example, Figure 3 A diagram illustrating the torques on each wheel when a vehicle is turned in place to the left. Figure 3 As shown, when the vehicle's stationary steering function is activated, and the vehicle speed V1 is less than the preset speed, the vehicle's steering angle θ1 is greater than the preset angle and lasts for a preset time, and the vehicle's driving mode is creep mode, then the vehicle meets the conditions for activating the stationary steering function. Further, the steering direction is determined based on the vehicle's turning angle signal. When the turning angle signal is less than 0, the steering direction is left turn; when the turning angle signal is greater than 0, the steering direction is right turn. If the vehicle's steering direction is left turn, a braking force Fr1 is applied to the left rear wheel C, or the left rear wheel C is locked. Simultaneously, a driving force Ff1 is applied to the left front wheel A, a driving force Ff2 is applied to the right front wheel B, and a driving force Fr2 is applied to the right rear wheel D. The driving force F on the vehicle at this time is F = Ff1 + Ff2 + Fr2. Similarly, if the vehicle's steering direction is right turn, a braking force is applied to the right rear wheel D, or the right rear wheel D is locked. Simultaneously, driving forces are applied to the left front wheel A, right front wheel B, and left rear wheel C.

[0042] In this way, even when the turning radius of the vehicle cannot be adjusted, the target wheel can be determined by the steering direction, and the target wheel can be braked to achieve the minimum turning effect, making it easier to turn the vehicle on the spot.

[0043] In another example, Figure 4 As shown, Figure 4 This is a flowchart illustrating the vehicle's stationary steering control method.

[0044] S21: After the driver presses the stationary steering function switch button, the stationary steering function switch button sends a stationary steering function activation signal to the control unit.

[0045] S22: The control unit determines whether the vehicle's stationary steering function activation signal is 1. If yes, then execute S23; otherwise, execute S29.

[0046] S23: The control unit determines whether the vehicle's creep mode signal is 1. If yes, it executes S24; otherwise, it executes S29.

[0047] S24: The control unit determines whether the current vehicle speed is less than the preset speed. If yes, it executes S25; otherwise, it executes S29.

[0048] S25: The control unit determines whether the current vehicle steering angle is greater than the preset angle and whether the duration is greater than the preset time T1. If yes, execute S26; otherwise, execute S29.

[0049] S26: The control unit determines whether the current vehicle's steering angle signal is greater than 0. If yes, then execute S27; otherwise, execute S28.

[0050] S27: If the steering direction is determined to be a right turn, apply braking force to the right rear wheel of the vehicle or lock the right rear wheel.

[0051] S28: Determine the steering direction as left turn, apply braking force to the left rear wheel of the vehicle or lock the left rear wheel.

[0052] S29: Determine that the vehicle does not meet the conditions for activating the stationary steering function.

[0053] It should be noted that the specific values ​​mentioned above are only for illustrating the implementation of the present invention in detail, and should not be construed as limiting the present invention. In other examples, implementation methods, or embodiments, other values ​​may be selected according to the present invention, and no specific limitations are made here.

[0054] Corresponding to the above embodiments, embodiments of the present invention also propose a vehicle stationary steering control device. Figure 5 This is a structural block diagram of a vehicle's stationary steering control device according to an embodiment of the present invention. Figure 5As shown, the vehicle's stationary steering control device 30 includes an acquisition module 300 and a control module 400. The communication module 300 is used to acquire the vehicle's driving mode, vehicle speed, steering angle, and steering direction in response to the vehicle's stationary steering function activation signal. The control module 400 is used to determine the target wheel based on the steering direction when the vehicle meets the stationary steering function activation conditions according to the driving mode, vehicle speed, and steering angle, and to apply braking force to the target wheel or lock the target wheel to make the vehicle turn in place.

[0055] In some embodiments of the present invention, the control module 400 is specifically used to: determine that the vehicle meets the conditions for activating the stationary steering function when the driving mode is crawl mode, the vehicle speed is less than the preset vehicle speed, the steering angle is greater than the preset angle and the duration reaches the preset time.

[0056] In some embodiments of the present invention, the preset vehicle speed is less than or equal to 20 km / h and the preset angle is greater than or equal to 90 degrees.

[0057] In some embodiments of the present invention, the control module 400 is specifically used to: determine the target wheel as the left rear wheel of the vehicle if the steering direction is left turn; and determine the target wheel as the right rear wheel of the vehicle if the steering direction is right turn.

[0058] In some embodiments of the present invention, the control module 400 is further configured to apply driving force to the remaining wheels other than the target wheel when applying braking force to the target wheel or locking the target wheel.

[0059] According to the vehicle stationary steering control device of the present invention, after the stationary steering function of the vehicle is activated, the device first acquires the vehicle's driving mode, vehicle speed, steering angle, and steering direction. Then, based on the driving mode, vehicle speed, and steering angle, it determines that the vehicle meets the conditions for activating the stationary steering function. Furthermore, it determines the target wheel based on the steering direction and applies braking force to the target wheel or locks the target wheel, thereby achieving the minimum turning objective of the vehicle. This enables the vehicle to complete stationary steering more smoothly, improves the vehicle's turning performance, and reduces personal safety or property safety issues caused by poor vehicle turning performance during driving.

[0060] It should be noted that the above explanation of the embodiments and beneficial effects of the vehicle stationary steering control method also applies to the vehicle stationary steering control device 30 of the present invention. To avoid redundancy, it will not be elaborated in detail here.

[0061] Corresponding to the above embodiments, the present invention also proposes a vehicle. Figure 6 This is a structural block diagram of a vehicle according to an embodiment of the present invention. Figure 6 As shown, the vehicle 40 includes a stationary steering control device 30 according to any of the above embodiments.

[0062] According to an embodiment of the present invention, after the vehicle's stationary steering function is activated, the vehicle's driving mode, speed, steering angle, and steering direction are first acquired. Then, based on the driving mode, speed, and steering angle, it is determined that the vehicle meets the conditions for activating the stationary steering function. Furthermore, the target wheel is determined based on the steering direction, and braking force is applied to the target wheel or the target wheel is locked, thereby achieving the vehicle's minimum turning objective. This allows the vehicle to complete stationary steering more smoothly, improves the vehicle's turning performance, and reduces personal safety or property safety issues caused by poor vehicle turning performance during driving.

[0063] It should be noted that the above explanation of the embodiments and beneficial effects of the vehicle's stationary steering control method also applies to the vehicle 40 in the embodiments of the present invention. To avoid redundancy, it will not be elaborated in detail here.

[0064] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0065] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0066] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0067] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0068] Furthermore, the terms "first," "second," etc., used in the embodiments of this invention are for descriptive purposes only and should not be construed as indicating or implying relative importance, or implicitly specifying the number of technical features indicated in this embodiment. Therefore, features defined with terms such as "first" and "second" in the embodiments of this invention can explicitly or implicitly indicate that the embodiment includes at least one of those features. In the description of this invention, the word "multiple" means at least two or more, such as two, three, four, etc., unless otherwise explicitly specified in the embodiments. Relational terms such as "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0069] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, electronic devices, and computer-readable storage media are basically similar to the method embodiments, and therefore the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0070] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for controlling the stationary steering of a vehicle, characterized in that, The method includes: In response to the vehicle's stationary steering function activation signal, the vehicle's driving mode, speed, steering angle, and steering direction are obtained; When it is determined that the vehicle meets the conditions for activating the stationary steering function based on the driving mode, the vehicle speed, and the steering angle, the target wheel is determined based on the steering direction; Apply braking force to the target wheels or lock the target wheels to turn the vehicle in place; The step of determining whether the vehicle meets the conditions for activating the stationary steering function based on the driving mode, the vehicle speed, and the steering angle includes: When the driving mode is crawl mode, the vehicle speed is less than the preset speed, the steering angle is greater than the preset angle and the duration reaches the preset time, it is determined that the vehicle meets the conditions for activating the stationary steering function. When the vehicle is in the crawl mode, the driver does not need to press the accelerator or brake pedal, but can drive at a low speed on bumpy or slippery roads by simply adjusting the vehicle's direction. The specific steps of the vehicle's stationary steering control method are as follows: S21: After the driver presses the stationary steering function switch button, the stationary steering function switch button sends a stationary steering function activation signal to the control unit. S22: The control unit determines whether the vehicle's stationary steering function activation signal is 1. If yes, then execute S23; otherwise, execute S29. S23: The control unit determines whether the vehicle's crawl mode signal is 1. If yes, it executes S24; otherwise, it executes S29. S24: The control unit determines whether the current vehicle speed is less than the preset speed. If yes, proceed to S25; otherwise, proceed to S29. S25: The control unit determines whether the current vehicle steering angle is greater than the preset angle and whether the duration is greater than the preset time T1. If yes, execute S26; otherwise, execute S29. S26: The control unit determines whether the current vehicle's steering angle signal is greater than 0. If yes, then execute S27; otherwise, execute S28. S27: If the steering direction is determined to be a right turn, apply braking force to the right rear wheel of the vehicle or lock the right rear wheel; S28: Determine the steering direction as left turn, apply braking force to the left rear wheel of the vehicle or lock the left rear wheel; S29: Determine that the vehicle does not meet the conditions for activating the stationary steering function.

2. The method according to claim 1, characterized in that, The preset vehicle speed is less than or equal to 20 km / h, and the preset angle is greater than or equal to 90 degrees.

3. The method according to any one of claims 1-2, characterized in that, When applying braking force to the target wheel or locking the target wheel, the method further includes: Apply driving force to the remaining wheels other than the target wheel.

4. A vehicle stationary steering control device, suitable for use with the stationary steering control method of any one of claims 1-3, characterized in that, The device includes: The acquisition module is used to acquire the vehicle's driving mode, speed, steering angle, and steering direction in response to the vehicle's stationary steering function activation signal. The control module is used to determine the target wheel according to the steering direction when the vehicle meets the conditions for activating the stationary steering function based on the driving mode, the vehicle speed and the steering angle, and to apply braking force to the target wheel or lock the target wheel so that the vehicle can turn in place. The control module is specifically used to: determine that the vehicle meets the conditions for activating the stationary turning function when the driving mode is crawl mode, the vehicle speed is less than the preset vehicle speed, the steering angle is greater than the preset angle and the duration reaches the preset time. When the vehicle is in the crawl mode, the driver does not need to press the accelerator or brake pedals; he can drive at a low speed on bumpy or slippery roads simply by adjusting the vehicle's direction.

5. The apparatus according to claim 4, characterized in that, The control module is specifically used for: If the turning direction is left, then the target wheel is determined to be the left rear wheel of the vehicle; If the steering direction is right turn, then the target wheel is determined to be the right rear wheel of the vehicle.

6. The apparatus according to any one of claims 4-5, characterized in that, The control module is also used to apply driving force to the remaining wheels other than the target wheel when applying braking force to the target wheel or locking the target wheel.

7. A vehicle, characterized in that, Includes a vehicle stationary steering control device according to any one of claims 4-6.

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