Vehicle pivot steering control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle pivot steering control method and device, a vehicle and a storage medium, and the method comprises the steps that a first target steering scheme is obtained from a plurality of preset steering schemes; wherein each steering scheme comprises a corresponding steering control mode which is circularly executed according to a preset cycle period, and the steering control modes corresponding to different steering schemes are not completely the same; controlling the vehicle to start in-situ steering based on the first target steering scheme, and acquiring vehicle dynamic data in the in-situ steering process; and in the in-situ steering process, the vehicle is controlled to be switched among the multiple steering schemes based on the vehicle dynamic data till in-situ steering of the vehicle is completed. According to the technical scheme, the stability and practicability of in-situ steering of the vehicle can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle on-the-spot steering control method, device, vehicle and storage medium. Background Art

[0002] In the related art, the steering method of a four-wheel drive vehicle equipped with front and rear dual motors is relatively simple when turning on the spot. It is impossible to perform targeted steering control for different road conditions and different vehicle operating conditions, resulting in poor practicality. Summary of the invention

[0003] The present application aims to solve one of the technical problems in the related art at least to some extent.

[0004] In the first aspect, the present application proposes a vehicle on-the-spot steering control method, the method comprising: obtaining a first target steering scheme from a plurality of preset steering schemes; wherein each of the steering schemes comprises cyclically executing a corresponding steering control method according to a preset cycle period, and the steering control methods corresponding to different steering schemes are not exactly the same; based on the first target steering scheme, controlling the vehicle to start on-the-spot steering, and obtaining vehicle dynamic data during the on-the-spot steering process; during the on-the-spot steering process, controlling the vehicle to switch between the plurality of steering schemes based on the vehicle dynamic data until the vehicle completes the on-the-spot steering.

[0005] In one implementation, the multiple steering schemes include a first steering scheme, a second steering scheme, a third steering scheme and a fourth steering scheme, and controlling the vehicle to switch between the multiple steering schemes based on the vehicle dynamic data includes at least one of the following methods: determining that the vehicle is executing the first steering scheme and the vehicle dynamic data satisfies a first switching condition, and controlling the vehicle to switch to the second steering scheme; determining that the vehicle is executing the second steering scheme and the vehicle dynamic data satisfies a second switching condition, and controlling the vehicle to switch to the third steering scheme; determining that the vehicle is executing the third steering scheme and the vehicle dynamic data satisfies a third switching condition, and controlling the vehicle to switch to the fourth steering scheme.

[0006] In one implementation, the steering control mode includes a first steering control mode, a second steering control mode and a third steering control mode, the first steering scheme includes executing the first steering control mode, the second steering scheme includes cyclically executing the first steering control mode and the second steering control mode according to a preset first cycle, the third steering scheme includes cyclically executing the first steering control mode and the third steering control mode according to a preset second cycle, and the fourth steering scheme includes cyclically executing the second steering control mode and the third steering control mode according to a preset third cycle, wherein the first steering control mode is to lock the first rear wheel of the vehicle, and the second rear wheel of the vehicle rotates in the opposite direction to the front wheel of the vehicle; the second steering control mode is to lock the second rear wheel, and the first rear wheel rotates in the same direction as the front wheel of the vehicle; the third steering control mode is that the first rear wheel, the second rear wheel and the front wheel of the vehicle rotate in the same direction; the first rear wheel is the rear wheel on the different side of the steering direction of the vehicle turning in situ.

[0007] In one implementation, the vehicle dynamic data includes at least one of the following: motor torque data; wheel speed data; inertial measurement unit IMU data.

[0008] In one implementation, before obtaining the first target steering scheme from a plurality of preset steering schemes, the method further includes: determining whether the vehicle satisfies a condition for starting on-the-spot steering; in response to the vehicle satisfying the condition for starting on-the-spot steering, determining whether the vehicle satisfies a condition for activating on-the-spot steering; and after determining that the vehicle satisfies the condition for activating on-the-spot steering, continuing to execute the step of obtaining the first target steering scheme from a plurality of preset steering schemes.

[0009] In one implementation, the method further includes: determining that the vehicle meets an exit condition during the on-the-spot turning process, and stopping the on-the-spot turning.

[0010] In the second aspect, the present application proposes a vehicle on-the-spot steering control device, the device comprising: a first processing module, used to obtain a first target steering scheme from a plurality of preset steering schemes; wherein each of the steering schemes comprises a corresponding steering control method that is cyclically executed according to a preset cycle period, and the steering control methods corresponding to different steering schemes are not exactly the same; a second processing module, used to control the vehicle to start on-the-spot steering based on the first target steering scheme, and to obtain vehicle dynamic data during the on-the-spot steering process; a third processing module, used to control the vehicle to switch between the plurality of steering schemes based on the vehicle dynamic data during the on-the-spot steering process until the vehicle completes the on-the-spot steering.

[0011] In one implementation, the multiple steering schemes include a first steering scheme, a second steering scheme, a third steering scheme and a fourth steering scheme, and the third processing module can execute at least one of the following methods: determine that the vehicle is executing the first steering scheme and the vehicle dynamic data satisfies a first switching condition, and control the vehicle to switch to the second steering scheme; determine that the vehicle is executing the second steering scheme and the vehicle dynamic data satisfies a second switching condition, and control the vehicle to switch to the third steering scheme; determine that the vehicle is executing the third steering scheme and the vehicle dynamic data satisfies a third switching condition, and control the vehicle to switch to the fourth steering scheme.

[0012] In one implementation, the steering control mode includes a first steering control mode, a second steering control mode and a third steering control mode, the first steering scheme includes executing the first steering control mode, the second steering scheme includes cyclically executing the first steering control mode and the second steering control mode according to a preset first cycle, the third steering scheme includes cyclically executing the first steering control mode and the third steering control mode according to a preset second cycle, and the fourth steering scheme includes cyclically executing the second steering control mode and the third steering control mode according to a preset third cycle, wherein the first steering control mode is to lock the first rear wheel of the vehicle, and the second rear wheel of the vehicle rotates in the opposite direction to the front wheel of the vehicle; the second steering control mode is to lock the second rear wheel, and the first rear wheel rotates in the same direction as the front wheel of the vehicle; the third steering control mode is that the first rear wheel, the second rear wheel and the front wheel of the vehicle rotate in the same direction; the first rear wheel is the rear wheel on the different side of the steering direction of the vehicle turning in situ.

[0013] In one implementation, the vehicle dynamic data includes at least one of the following: motor torque data; wheel speed data; inertial measurement unit IMU data.

[0014] In one implementation, the device also includes a fourth processing module, which is used to: determine whether the vehicle satisfies the on-the-spot steering start-up condition; in response to the vehicle satisfying the on-the-spot steering start-up condition, determine whether the vehicle satisfies the on-the-spot steering activation condition; and upon determining that the vehicle satisfies the on-the-spot steering activation condition, continue to execute the step of obtaining a first target steering scheme from a plurality of preset steering schemes.

[0015] In one implementation, the device further includes a fifth processing module, which is used to: determine that the vehicle meets an exit condition during the on-the-spot turning process, and stop the on-the-spot turning.

[0016] In a third aspect, the present application proposes a vehicle comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle in-situ steering control method as described in the first aspect.

[0017] In a fourth aspect, the present application proposes a computer-readable storage medium for storing instructions, which, when executed, enables the method described in the first aspect to be implemented.

[0018] In a fifth aspect, the present application proposes a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the vehicle in-situ steering control method as described in the first aspect.

[0019] The vehicle on-site steering control method, device, vehicle and storage medium provided by the present application can control the vehicle to start on-site steering from a first steering scheme determined from multiple preset steering schemes, and control the vehicle to switch between multiple steering schemes based on vehicle dynamic data during the steering process. The stability and practicality of the vehicle on-site steering can be improved.

[0020] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0022] Figure 1 is a schematic diagram of a vehicle provided in an embodiment of the present application;

[0023] Figure 2 It is a flow chart of a vehicle in-situ steering control method provided in an embodiment of the present application;

[0024] Figure 3A is an example diagram of a first steering control method provided in an embodiment of the present application;

[0025] Figure 3B is an example diagram of a first steering control method provided in an embodiment of the present application;

[0026] Figure 3C is an example diagram of a first steering control method provided in an embodiment of the present application;

[0027] Figure 4 It is a flow chart of another vehicle in-situ steering control method provided by an embodiment of the present application;

[0028] Figure 5 is a schematic diagram of motor torque and braking torque corresponding to the first steering solution provided in an embodiment of the present application;

[0029] Figure 6 It is a flow chart of another vehicle in-situ steering control method provided by an embodiment of the present application;

[0030] Figure 7 is a schematic diagram of motor torque and braking torque corresponding to the second steering solution provided in an embodiment of the present application;

[0031] Figure 8 It is a flow chart of another vehicle in-situ steering control method provided by an embodiment of the present application;

[0032] Fig. 9 is a schematic diagram of motor torque and braking torque corresponding to the third steering solution provided in an embodiment of the present application;

[0033] Fig.10 is a schematic diagram of motor torque and braking torque corresponding to the fourth steering solution provided in an embodiment of the present application;

[0034] Fig.11 It is a flow chart of another vehicle in-situ steering control method provided by an embodiment of the present application;

[0035] Fig.12 It is a flow chart of another vehicle in-situ steering control method provided by an embodiment of the present application;

[0036] Fig.13 It is a flow chart of another vehicle in-situ steering control method provided by an embodiment of the present application;

[0037] Fig.14 It is a flow chart of another vehicle in-situ steering control method provided by an embodiment of the present application;

[0038] Fig.15 is a schematic diagram of a vehicle on-site steering control process provided by an embodiment of the present application;

[0039] Fig.16 It is a structural schematic diagram of a vehicle in-situ steering control device provided in an embodiment of the present application;

[0040] Fig.17 is a structural schematic diagram of another vehicle in-situ steering control device provided in an embodiment of the present application;

[0041] Fig.18 It is a structural schematic diagram of another vehicle in-situ steering control device provided in an embodiment of the present application;

[0042] Fig.19It is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0044] See also Figure 1 , Figure 1 is a schematic diagram of a vehicle provided in an embodiment of the present application. Figure 1 As shown, the vehicle is equipped with a front motor and a rear motor. The front motor can apply power to the front wheels of the vehicle alone, and the rear motor can apply power to the rear wheels of the vehicle alone. It should be noted that the vehicle in-situ steering control method and device provided in the embodiment of the present application can be applied to Figure 1 Front and rear dual motor vehicle shown.

[0045] The following describes a method and device for controlling on-the-spot steering of a vehicle according to an embodiment of the present application with reference to the accompanying drawings.

[0046] Figure 2 FIG. 1 is a flow chart of a vehicle in-situ steering control method provided by an embodiment of the present application. Figure 2 As shown, the method may include but is not limited to the following steps:

[0047] Step S201: Obtain a first target steering scheme from a plurality of preset steering schemes.

[0048] Each steering scheme includes executing a corresponding steering control method cyclically according to a preset cycle period, and the steering control methods corresponding to different steering schemes are not completely the same.

[0049] Exemplarily, a steering scheme selected by a driver of the vehicle from a plurality of preset steering schemes through an interactive interface provided by the vehicle is obtained as the first target steering scheme.

[0050] It should be noted that the above-mentioned steering control method can be a control method for different wheels of the vehicle.

[0051] Step S202: Controlling the vehicle to start turning on the spot based on the first target steering scheme, and acquiring vehicle dynamic data during the turning on the spot process.

[0052] Exemplarily, the wheels are controlled based on the wheel control method corresponding to the first target steering scheme to perform on-the-spot steering, and real-time vehicle dynamic data of the vehicle is obtained during the steering process.

[0053] Among them, in an embodiment of the present application, the above-mentioned vehicle dynamic data includes at least one of the following: motor torque data; wheel speed data; IMU (Inertial Measurement Unit) data.

[0054] It should be noted that the above motor torque data includes front axle motor torque data and rear axle motor torque data.

[0055] Step S203: During the on-the-spot turning process, the vehicle is controlled to switch between a plurality of turning schemes based on the vehicle dynamic data until the vehicle completes the on-the-spot turning.

[0056] For example, different switching conditions can be set in advance for different steering schemes. During the process of the vehicle turning in place, it is determined based on the vehicle dynamic data whether the vehicle meets the switching conditions corresponding to the second target steering scheme. If the switching conditions corresponding to the second target steering scheme are met, the vehicle is controlled to switch to the second target steering scheme to continue turning in place until the vehicle completes the turning in place. The second target steering scheme is any other steering scheme except the currently executed steering scheme.

[0057] It is understandable that, when the vehicle is turning on the spot, the above method can be used to switch between multiple steering schemes multiple times.

[0058] By implementing the embodiments of the present application, the vehicle can be controlled to start turning in situ from the first steering scheme determined from multiple preset steering schemes, and the vehicle can be controlled to switch between multiple steering schemes in real time based on the vehicle dynamic data during the steering process, which can improve the stability and practicality of the vehicle's turning in situ.

[0059] Among them, in an embodiment of the present application, the aforementioned steering control mode includes a first steering control mode, a second steering control mode and a third steering control mode, wherein the first steering control mode is to lock the first rear wheel of the vehicle, and the second rear wheel of the vehicle rotates in the opposite direction to the front wheel of the vehicle; the second steering control mode is to lock the second rear wheel, and the first rear wheel rotates in the same direction as the front wheel of the vehicle; the third steering control mode is that the first rear wheel, the second rear wheel and the front wheel of the vehicle rotate in the same direction; the first rear wheel is the rear wheel on the different side of the steering direction of the vehicle turning in place.

[0060] As an example, see Figure 3A , Figure 3B and Figure 3C . Figure 3A This is an example diagram of the first steering control method provided in an embodiment of the present application. Figure 3B This is an example diagram of the first steering control method provided in an embodiment of the present application. Figure 3C This is an example diagram of the first steering control method provided in an embodiment of the present application.

[0061] like Figure 3A As shown, the first steering scheme is to apply brake pressure to the rear wheel on the same side as the steering direction, control the front motor to apply positive torque to the front wheel, and control the rear motor to apply reverse torque to the rear wheel on the opposite side of the steering direction. It can be understood that the theoretical turning radius of the first steering scheme is 0.5 times the vehicle wheelbase.

[0062] like Figure 3B As shown, the second steering scheme is to apply brake pressure to the rear wheel on the same side as the steering direction to lock it, control the front motor to apply positive torque to the front wheel, and control the rear motor to apply positive torque to the rear wheel on the different side from the steering direction.

[0063] like Figure 3C As shown, the third steering scheme is that no braking force is applied to the front wheels and the rear wheels, and the front and rear motors apply positive torque to the front and rear wheels respectively.

[0064] In some embodiments, when the first target steering scheme is the first steering scheme, the current steering scheme can be controlled to switch between multiple steering schemes based on vehicle dynamic data and preset conditions. As an example, see Figure 4 , Figure 4 FIG. 1 is a flow chart of another vehicle in-situ steering control method provided by an embodiment of the present application. Figure 4 As shown, the method may include but is not limited to the following steps:

[0065] Step S401: Obtain a first target steering scheme from a plurality of preset steering schemes, where the first target steering scheme is the first steering scheme.

[0066] The first steering scheme includes executing the first steering control mode alone.

[0067] As an example, see Figure 5 , Figure 5 It is a schematic diagram of the motor torque and braking moment corresponding to the first steering scheme provided in an embodiment of the present application.

[0068] It should be noted that in the embodiments of the present application, when the vehicle is turning on the spot, the actual speed of the wheel and the target speed of the current steering control mode are measured, the output torque of the front and rear motors are adjusted in a closed loop, and the braking pressure of the locking wheel is adjusted in a closed loop.

[0069] In the embodiments of the present application, step S401 can be implemented by any of the methods in the embodiments of the present application, and the embodiments of the present application do not limit this and will not be described in detail.

[0070] Step S402: Control the vehicle to start turning on the spot based on the first target steering scheme, and obtain vehicle dynamic data during the turning on the spot.

[0071] In the embodiments of the present application, step S402 can be implemented by any of the methods in the embodiments of the present application, and the embodiments of the present application do not limit this and will not be described in detail.

[0072] Step S403: Determine that the vehicle is executing the first steering plan and the vehicle dynamic data meets the first switching condition, control the vehicle to switch to the second steering plan to continue turning on the spot until the vehicle completes the turning on the spot.

[0073] Exemplarily, in the process of controlling the vehicle to continue turning on the spot using a first steering scheme, it is determined that the vehicle's real-time dynamic data meets a first switching condition, and the vehicle is controlled to switch to a second steering scheme, so that the vehicle continues to turn on the spot using the second steering scheme until the vehicle completes the turning on the spot.

[0074] By implementing the embodiment of the present application, when the vehicle executes the first steering scheme and the vehicle dynamic data meets the first switching condition, the vehicle can be controlled to switch to the second steering scheme to continue turning in place until the vehicle completes the turning in place. The vehicle can be controlled to execute different steering schemes according to actual conditions, thereby improving the stability and practicality of the vehicle's turning in place.

[0075] In some embodiments, when the first target steering scheme is the second steering scheme, the current steering scheme can be controlled to switch between multiple steering schemes based on vehicle dynamic data and preset conditions. As an example, see Figure 6 , Figure 6 FIG. 2 is a flow chart of another vehicle in-situ steering control method provided by an embodiment of the present application. Figure 6 As shown, the method may include but is not limited to the following steps:

[0076] Step S601: Obtain a first target steering scheme from a plurality of preset steering schemes, where the first target steering scheme is the second steering scheme.

[0077] The second steering scheme includes cyclically executing the first steering control mode and the second steering control mode according to a preset first cycle period.

[0078] Exemplarily, each first cycle of the second steering scheme includes executing the first steering control mode according to a preset first duration and executing the second steering control mode according to a preset second duration.

[0079] It should be noted that, in the embodiments of the present application, the first duration and the second duration may be the same or different.

[0080] As an example, see Figure 7 , Figure 7It is a schematic diagram of the motor torque and braking moment corresponding to the second steering scheme provided in an embodiment of the present application.

[0081] In the embodiments of the present application, step S601 can be implemented in any of the embodiments of the present application, and the embodiments of the present application do not limit this and will not be described in detail.

[0082] Step S602: Control the vehicle to start turning on the spot based on the first target steering scheme, and obtain vehicle dynamic data during the turning on the spot.

[0083] In the embodiments of the present application, step S602 can be implemented in any of the embodiments of the present application, and the embodiments of the present application do not limit this and will not be described in detail.

[0084] Step S603: Determine that the vehicle is executing the second steering plan and the vehicle dynamic data meets the second switching condition, control the vehicle to switch to the third steering plan to continue turning on the spot until the vehicle completes the turning on the spot.

[0085] Exemplarily, in the process of controlling the vehicle to continue turning on the spot using the second steering scheme, it is determined that the vehicle's real-time dynamic data meets the second switching condition, and the vehicle is controlled to switch to the third steering scheme, so that the vehicle continues to turn on the spot using the third steering scheme until the vehicle completes the turn on the spot.

[0086] By implementing the embodiment of the present application, when the vehicle executes the second steering scheme and the vehicle dynamic data meets the second switching condition, the vehicle can be controlled to switch to the third steering scheme to continue turning in place until the vehicle completes the turning in place. The vehicle can be controlled to execute different steering schemes according to actual conditions, thereby improving the stability and practicality of the vehicle's turning in place.

[0087] In some embodiments, when the first target steering scheme is the third steering scheme, the current steering scheme can be controlled to switch between multiple steering schemes based on vehicle dynamic data and preset conditions. As an example, see Figure 8 , Figure 8 FIG. 1 is a flow chart of another vehicle in-situ steering control method provided by an embodiment of the present application. Figure 8 As shown, the method may include but is not limited to the following steps:

[0088] Step S801: Obtain a first target steering scheme from a plurality of preset steering schemes, where the first target steering scheme is the third steering scheme.

[0089] The third steering scheme includes cyclically executing the first steering control mode and the third steering control mode according to a preset second cycle period.

[0090] Exemplarily, each second cycle of the third steering scheme includes executing the first steering control mode for a preset third time duration and executing the third steering control mode for a preset fourth time duration.

[0091] It should be noted that, in the embodiments of the present application, the third duration and the fourth duration may be the same or different.

[0092] As an example, see Fig. 9 , Fig. 9 It is a schematic diagram of motor torque and braking torque corresponding to the third steering scheme provided in an embodiment of the present application.

[0093] In the embodiments of the present application, step S801 can be implemented in any of the embodiments of the present application, and the embodiments of the present application do not limit this and will not be described in detail.

[0094] Step S802: Control the vehicle to start turning on the spot based on the first target steering scheme, and obtain vehicle dynamic data during the turning on the spot.

[0095] In the embodiments of the present application, step S802 can be implemented by any of the methods in the embodiments of the present application, and the embodiments of the present application do not limit this and will not be described in detail.

[0096] Step S803: Determine that the vehicle is executing the third steering scheme and the vehicle dynamic data meets the third switching condition, control the vehicle to switch to the fourth steering scheme to continue turning on the spot until the vehicle completes the turning on the spot.

[0097] Exemplarily, in the process of controlling the vehicle to continue turning on the spot using the third steering scheme, it is determined that the vehicle's real-time dynamic data meets the third switching condition, and the vehicle is controlled to switch to the fourth steering scheme, so that the vehicle continues to turn on the spot using the fourth steering scheme until the vehicle completes the turn on the spot.

[0098] The fourth steering scheme includes cyclically executing the second steering control mode and the third steering control mode according to a preset third cycle period.

[0099] Exemplarily, each second cycle of the fourth steering scheme includes executing the first steering control mode for a preset fifth duration and executing the third steering control mode for a preset sixth duration.

[0100] It should be noted that, in the embodiment of the present application, the fifth duration and the sixth duration may be the same or different.

[0101] As an example, see Fig.10 , Fig.10 It is a schematic diagram of motor torque and braking torque corresponding to the fourth steering scheme provided in an embodiment of the present application.

[0102] By implementing the embodiment of the present application, when the vehicle executes the third steering scheme and the vehicle dynamic data meets the third switching condition, the vehicle can be controlled to switch to the fourth steering scheme to continue turning in place until the vehicle completes the turning in place. The vehicle can be controlled to execute different steering schemes according to actual conditions, thereby improving the stability and practicality of the vehicle's turning in place.

[0103] In some embodiments, when the first target steering scheme is the first steering scheme, the current steering scheme can be controlled to switch multiple times between multiple steering schemes based on vehicle dynamic data and preset conditions. As an example, see Fig.11 , Fig.11 FIG. 2 is a flow chart of another vehicle in-situ steering control method provided by an embodiment of the present application. Fig.11 As shown, the method may include but is not limited to the following steps:

[0104] Step S1101: Obtain a first target steering scheme from a plurality of preset steering schemes, where the first target steering scheme is the first steering scheme.

[0105] In the embodiments of the present application, step S1101 can be implemented in any of the embodiments of the present application, and the embodiments of the present application do not limit this and will not be described in detail.

[0106] Step S1102: Control the vehicle to start turning on the spot based on the first target steering scheme, and obtain vehicle dynamic data during the turning on the spot.

[0107] In the embodiments of the present application, step S1102 can be implemented in any of the embodiments of the present application, and the embodiments of the present application do not limit this and will not be described in detail.

[0108] Step S1103: Determine that the vehicle is executing the first steering plan and the vehicle dynamic data meets the first switching condition, and control the vehicle to switch to the second steering plan to continue turning on the spot.

[0109] Exemplarily, in the process of controlling the vehicle to continue turning on the spot using the first steering scheme, it is determined that the vehicle's real-time dynamic data meets the first switching condition, and the vehicle is controlled to switch to the second steering scheme so that the vehicle continues to turn on the spot using the second steering scheme.

[0110] Step S1104: Determine that the vehicle is executing the second steering plan and the vehicle dynamic data meets the second switching condition, control the vehicle to switch to the third steering plan to continue turning on the spot until the vehicle completes the turning on the spot.

[0111] Exemplarily, in the process of controlling the vehicle to continue turning on the spot using the second steering scheme, it is determined that the vehicle's real-time dynamic data meets the second switching condition, and the vehicle is controlled to switch to the third steering scheme, so that the vehicle continues to turn on the spot using the third steering scheme until the vehicle completes the turn on the spot.

[0112] By implementing the embodiments of the present application, the vehicle can be controlled to switch multiple steering schemes based on the vehicle dynamic data during the process of turning in place, and the vehicle can be controlled to execute different steering schemes according to actual conditions, thereby improving the stability and practicality of the vehicle's turning in place.

[0113] In some embodiments, when the first target steering scheme is the second steering scheme, the current steering scheme can be controlled to switch multiple times between multiple steering schemes based on vehicle dynamic data and preset conditions. As an example, see Fig.12 , Fig.12 FIG. 2 is a flow chart of another vehicle in-situ steering control method provided by an embodiment of the present application. Fig.12 As shown, the method may include but is not limited to the following steps:

[0114] Step S1201: Obtain a first target steering scheme from a plurality of preset steering schemes, where the first target steering scheme is the second steering scheme.

[0115] In the embodiments of the present application, step S1201 can be implemented in any of the ways in the embodiments of the present application, and the embodiments of the present application do not limit this and will not be described in detail.

[0116] Step S1202: Control the vehicle to start turning on the spot based on the first target steering scheme, and obtain vehicle dynamic data during the turning on the spot.

[0117] In the embodiments of the present application, step S1202 can be implemented in any of the ways in the embodiments of the present application, and the embodiments of the present application do not limit this and will not be described in detail.

[0118] Step S1203: Determine that the vehicle is executing the first steering plan and the vehicle dynamic data meets the first switching condition, and control the vehicle to switch to the second steering plan to continue turning on the spot.

[0119] Exemplarily, in the process of controlling the vehicle to continue turning on the spot using the first steering scheme, it is determined that the vehicle's real-time dynamic data meets the first switching condition, and the vehicle is controlled to switch to the second steering scheme so that the vehicle continues to turn on the spot using the second steering scheme.

[0120] Step S1204: Determine that the vehicle is executing the second steering plan and the vehicle dynamic data meets the second switching condition, control the vehicle to switch to the third steering plan to continue turning on the spot until the vehicle completes the turning on the spot.

[0121] Exemplarily, in the process of controlling the vehicle to continue turning on the spot using the second steering scheme, it is determined that the vehicle's real-time dynamic data meets the second switching condition, and the vehicle is controlled to switch to the third steering scheme, so that the vehicle continues to turn on the spot using the third steering scheme until the vehicle completes the turn on the spot.

[0122] By implementing the embodiments of the present application, the vehicle can be controlled to switch multiple steering schemes based on the vehicle dynamic data during the process of turning in place, and the vehicle can be controlled to execute different steering schemes according to actual conditions, thereby improving the stability and practicality of the vehicle's turning in place.

[0123] In some embodiments, when the first target steering scheme is the second steering scheme, the current steering scheme can be controlled to switch multiple times between multiple steering schemes based on vehicle dynamic data and preset conditions. As an example, see Fig.13 , Fig.13 FIG. 1 is a flow chart of another vehicle in-situ steering control method provided by an embodiment of the present application. Fig.13 As shown, the method may include but is not limited to the following steps:

[0124] Step S1301: Obtain a first target steering scheme from a plurality of preset steering schemes, where the first target steering scheme is the second steering scheme.

[0125] In the embodiments of the present application, step S1301 can be implemented in any of the ways in the embodiments of the present application, and the embodiments of the present application do not limit this and will not be described in detail.

[0126] Step S1302: Control the vehicle to start turning on the spot based on the first target steering scheme, and obtain vehicle dynamic data during the turning on the spot.

[0127] In the embodiments of the present application, step S1302 can be implemented in any of the embodiments of the present application, and the embodiments of the present application do not limit this and will not be described in detail.

[0128] Step S1303: Determine that the vehicle is executing the second steering plan and the vehicle dynamic data meets the second switching condition, and control the vehicle to switch to the third steering plan to continue turning on the spot.

[0129] Exemplarily, in the process of controlling the vehicle to continue turning on the spot using the second steering scheme, it is determined that the vehicle's real-time dynamic data meets the second switching condition, and the vehicle is controlled to switch to the third steering scheme, so that the vehicle continues to turn on the spot using the third steering scheme.

[0130] Step S1304: Determine that the vehicle is executing the third steering plan and the vehicle dynamic data meets the third switching condition, control the vehicle to switch to the fourth steering plan to continue turning on the spot until the vehicle completes the turning on the spot.

[0131] Exemplarily, in the process of controlling the vehicle to continue turning on the spot using the third steering scheme, it is determined that the vehicle's real-time dynamic data meets the third switching condition, and the vehicle is controlled to switch to the fourth steering scheme, so that the vehicle continues to turn on the spot using the fourth steering scheme until the vehicle completes the turn on the spot.

[0132] By implementing the embodiments of the present application, the vehicle can be controlled to switch multiple steering schemes based on the vehicle dynamic data during the process of turning in place, and the vehicle can be controlled to execute different steering schemes according to actual conditions, thereby improving the stability and practicality of the vehicle's turning in place.

[0133] In some embodiments, when the first target steering scheme is the first steering scheme, the current steering scheme can be controlled to switch multiple times between multiple steering schemes based on vehicle dynamic data and preset conditions. As an example, see Fig.14 , Fig.14 FIG. 1 is a flow chart of another vehicle in-situ steering control method provided by an embodiment of the present application. Fig.14 As shown, the method may include but is not limited to the following steps:

[0134] Step S1401: Obtain a first target steering scheme from a plurality of preset steering schemes, where the first target steering scheme is the second steering scheme.

[0135] In the embodiments of the present application, step S1401 can be implemented in any of the ways in the embodiments of the present application, and the embodiments of the present application do not limit this and will not be described in detail.

[0136] Step S1402: Control the vehicle to start turning on the spot based on the first target steering scheme, and obtain vehicle dynamic data during the turning on the spot.

[0137] In the embodiments of the present application, step S1402 can be implemented in any of the ways in the embodiments of the present application, and the embodiments of the present application do not limit this and will not be described in detail.

[0138] Step S1403: Determine that the vehicle is executing the first steering plan and the vehicle dynamic data meets the first switching condition, control the vehicle to switch to the second steering plan to continue turning on the spot until the vehicle completes the turning on the spot.

[0139] Exemplarily, in the process of controlling the vehicle to continue turning on the spot using the first steering scheme, it is determined that the vehicle's real-time dynamic data meets the first switching condition, and the vehicle is controlled to switch to the second steering scheme so that the vehicle continues to turn on the spot using the second steering scheme.

[0140] Step S1404: Determine that the vehicle is executing the second steering plan and the vehicle dynamic data meets the second switching condition, and control the vehicle to switch to the third steering plan to continue turning on the spot.

[0141] Exemplarily, in the process of controlling the vehicle to continue turning on the spot using the second steering scheme, it is determined that the vehicle's real-time dynamic data meets the second switching condition, and the vehicle is controlled to switch to the third steering scheme, so that the vehicle continues to turn on the spot using the third steering scheme.

[0142] Step S1405: Determine that the vehicle is executing the third steering plan and the vehicle dynamic data meets the third switching condition, control the vehicle to switch to the fourth steering plan to continue turning on the spot until the vehicle completes the turning on the spot.

[0143] Exemplarily, in the process of controlling the vehicle to continue turning on the spot using the third steering scheme, it is determined that the vehicle's real-time dynamic data meets the third switching condition, and the vehicle is controlled to switch to the fourth steering scheme, so that the vehicle continues to turn on the spot using the fourth steering scheme until the vehicle completes the turn on the spot.

[0144] By implementing the embodiments of the present application, the vehicle can be controlled to switch multiple steering schemes based on the vehicle dynamic data during the process of turning in place, and the vehicle can be controlled to execute different steering schemes according to actual conditions, thereby improving the stability and practicality of the vehicle's turning in place.

[0145] In some embodiments, before adopting the vehicle in-situ steering control method provided by any of the aforementioned embodiments of the present application, the aforementioned method further includes:

[0146] A1: Determine whether the vehicle meets the conditions for turning on the spot.

[0147] Among them, the above-mentioned on-the-spot steering activation conditions include at least one of the following: the vehicle's assisted steering function is turned on; the vehicle's gear position is P gear; the vehicle's power system has no faults; the vehicle's EPB (Electrical Park Brake) caliper is in a clamped state; and the seat belt has been worn.

[0148] A2: In response to the vehicle satisfying the stationary steering on condition, determining whether the vehicle satisfies the stationary steering activation condition.

[0149] Among them, the above-mentioned on-the-spot steering activation conditions include at least one of the following: the steering wheel rotation angle is greater than a preset angle threshold; the vehicle gear is in D gear; the accelerator pedal is pressed.

[0150] Exemplarily, if it is determined that the vehicle satisfies all of the above-mentioned on-the-spot steering activation conditions, it is further determined whether the vehicle satisfies all of the above-mentioned on-the-spot steering activation conditions.

[0151] A3: Determine that the vehicle meets the on-the-spot steering activation condition, and continue to execute the step of obtaining a first target steering solution from multiple preset steering solutions.

[0152] Exemplarily, it is determined that the vehicle satisfies all of the above-mentioned on-the-spot steering activation conditions, and the steps of the vehicle on-the-spot steering control method provided in any of the aforementioned embodiments of the present application are continued to be executed.

[0153] By implementing the embodiments of the present application, it is possible to determine whether corresponding conditions are met before the vehicle turns on the spot to ensure the safety of the vehicle and the people on board.

[0154] In some embodiments, the method further includes: determining that the vehicle meets an exit condition during the on-the-spot turning process, and stopping the on-the-spot turning.

[0155] Among them, the above exit conditions may include active exit conditions and protective exit conditions.

[0156] Among them, the active exit conditions may include at least one of the following: receiving an instruction to exit on-the-spot steering; the brake pedal is pressed; the seat belt is not worn; the steering wheel rotation angle is less than or equal to a preset angle threshold; the accelerator pedal is not pressed; the EPB is pulled up.

[0157] Among them, the protective exit conditions may include at least one of the following: failure of the on-the-spot steering function execution system; abnormal wheel speed signal; abnormal IMU signal; the vehicle's lateral acceleration is greater than a preset acceleration threshold; the vehicle's yaw angular velocity is greater than a preset angular velocity threshold; the vehicle's brake disc temperature is greater than a preset temperature threshold; the on-the-spot steering duration exceeds a preset duration.

[0158] Exemplarily, during the process of the vehicle turning on the spot, if it is determined that the vehicle meets any of the aforementioned exit conditions, the turning on the spot is stopped.

[0159] By implementing the embodiments of the present application, it is possible to determine whether the vehicle has triggered an exit condition during the process of the vehicle turning on the spot, and exit the turning on the spot when the exit condition is triggered to ensure the safety of the vehicle and the people on board.

[0160] See also Fig.15 , Fig.15 Schematic diagram of a vehicle on-site steering control process provided by an embodiment of the present application. Fig.15 As shown, when the driver of the vehicle needs to turn on the on-the-spot steering function of the vehicle, when turning on the spot, it is first determined whether the preset on-the-spot steering function turning-on condition is met; if the on-the-spot steering function turning-on condition is not met, the driver is prompted with the reason why the on-the-spot steering function cannot be turned on;

[0161] If the activation conditions of the on-the-spot steering function are met, the on-the-spot steering function is turned on; after the driver performs the required steering operation, it is determined whether the activation conditions of the on-the-spot steering function are met; if the activation conditions of the on-the-spot steering function are met and the driver has not selected a target steering plan, the first steering plan is first used for on-the-spot steering; if the activation conditions of the on-the-spot steering function are met and the driver has selected a target steering plan, the steering plan selected by the driver is used for on-the-spot steering.

[0162] During the process of turning on the spot, if it is determined based on vehicle data that the vehicle cannot turn on the spot according to the currently executed steering plan, or the driver actively changes the level, the vehicle will switch to the next steering plan in the order of the first steering plan, the second steering plan, the third steering plan and the fourth steering plan to continue turning on the spot.

[0163] At the same time, during the process of turning on the spot, it is determined whether the exit condition of the turning on the spot function is met. If so, the turning on the spot function is exited.

[0164] See also Fig.16 , Fig.16 Schematic diagram of the structure of a vehicle in-situ steering control device provided in an embodiment of the present application. Fig.16 As shown, the device 1600 includes: a first processing module 1601, used to obtain a first target steering scheme from a plurality of preset steering schemes; wherein each steering scheme includes cyclically executing a corresponding steering control method according to a preset cycle period, and the steering control methods corresponding to different steering schemes are not exactly the same; a second processing module 1602, used to control the vehicle to start turning on the spot based on the first target steering scheme, and obtain vehicle dynamic data during the turning on the spot process; a third processing module 1603, used to control the vehicle to switch between a plurality of steering schemes based on the vehicle dynamic data during the turning on the spot process until the vehicle completes the turning on the spot.

[0165] In one implementation, the multiple steering schemes include a first steering scheme, a second steering scheme, a third steering scheme and a fourth steering scheme. The third processing module 1603 can execute at least one of the following methods: determine that the vehicle is executing the first steering scheme and the vehicle dynamic data satisfies the first switching condition, and control the vehicle to switch to the second steering scheme; determine that the vehicle is executing the second steering scheme and the vehicle dynamic data satisfies the second switching condition, and control the vehicle to switch to the third steering scheme; determine that the vehicle is executing the third steering scheme and the vehicle dynamic data satisfies the third switching condition, and control the vehicle to switch to the fourth steering scheme.

[0166] In one implementation, the steering control mode includes a first steering control mode, a second steering control mode and a third steering control mode, the first steering scheme includes executing the first steering control mode, the second steering scheme includes cyclically executing the first steering control mode and the second steering control mode according to a preset first cycle, the third steering scheme includes cyclically executing the first steering control mode and the third steering control mode according to a preset second cycle, and the fourth steering scheme includes cyclically executing the second steering control mode and the third steering control mode according to a preset third cycle, wherein the first steering control mode is to lock the first rear wheel of the vehicle, and the second rear wheel of the vehicle rotates in the opposite direction to the front wheel of the vehicle; the second steering control mode is to lock the second rear wheel, and the first rear wheel rotates in the same direction as the front wheel of the vehicle; the third steering control mode is that the first rear wheel, the second rear wheel and the front wheel of the vehicle rotate in the same direction; the first rear wheel is the rear wheel on the different side of the steering direction of the vehicle turning in situ.

[0167] In one implementation, the vehicle dynamics data includes at least one of the following: motor torque data; wheel speed data; inertial measurement unit (IMU) data.

[0168] In one implementation, the apparatus further includes a fourth processing module. As an example, see Fig.17 , Fig.17 Schematic diagram of another vehicle in-situ steering control device provided in an embodiment of the present application. Fig.17 As shown, the device 1700 includes a fourth processing module 1704, which is used to: determine whether the vehicle meets the on-site steering start condition; in response to the vehicle meeting the on-site steering start condition, determine whether the vehicle meets the on-site steering activation condition; determine that the vehicle meets the on-site steering activation condition, and continue to execute the step of obtaining a first target steering solution from a plurality of preset steering solutions. Fig.17 Modules 1701 to 1703 in Fig.16 Modules 1601 to 1603 in the embodiment have the same structure and function.

[0169] In one implementation, the apparatus further includes a fifth processing module. As an example, see Fig.18 , Fig.18 Schematic diagram of another vehicle in-situ steering control device provided in an embodiment of the present application. Fig.18 As shown, the device 1800 includes a fifth processing module 1804, which is used to: determine that the vehicle meets the exit condition during the on-the-spot turning process, and stop the on-the-spot turning. Fig.18 Modules 1801 to 1803 in Fig.16 Modules 1601 to 1603 in the embodiment have the same structure and function.

[0170] Through the device of the embodiment of the present application, the vehicle can be controlled to start turning in place based on the first steering scheme determined from multiple preset steering schemes, and the vehicle can be controlled to switch between multiple steering schemes based on vehicle dynamic data during the steering process. The stability and practicality of the vehicle's turning in place can be improved.

[0171] It should be noted that the above explanation of the embodiment of the vehicle on-the-spot steering control method is also applicable to the vehicle on-the-spot steering control device of this embodiment, and will not be repeated here.

[0172] In order to implement the above embodiment, the present application also proposes a vehicle. The power system of the vehicle includes a front motor and a rear motor. Fig.19 , Fig.19 Schematic diagram of the structure of the vehicle provided in the embodiment of the present application. Fig.19 As shown, the vehicle 1900 includes: a processor 1901, and a memory 1902 communicatively connected to the processor 1901; the memory 1902 stores computer-executable instructions; and the processor 1901 executes the computer-executable instructions stored in the memory to implement the method provided in the aforementioned embodiment.

[0173] In order to implement the above embodiments, the present application also proposes a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the methods provided by the above embodiments.

[0174] In order to implement the above embodiments, the present application also proposes a computer program product, including a computer program, which implements the methods provided by the above embodiments when executed by a processor.

[0175] In the description of this application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in this article is merely a way to describe the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0176] In the description of the aforementioned embodiments, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0177] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0178] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0179] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0180] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0181] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0182] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0183] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle on-site steering control method, characterized in that: include: Obtaining a first target steering scheme from a plurality of preset steering schemes; wherein each of the steering schemes includes cyclically executing a corresponding steering control mode according to a preset cycle period, and the steering control modes corresponding to different steering schemes are not completely the same; Controlling the vehicle to start turning in situ based on the first target turning scheme, and acquiring vehicle dynamic data during the turning in situ; During the pivot turn, the vehicle is controlled to switch between the plurality of steering schemes based on the vehicle dynamics data until the vehicle completes the pivot turn.

2. The method according to claim 1, characterized in that The plurality of steering schemes include a first steering scheme, a second steering scheme, a third steering scheme, and a fourth steering scheme, and the controlling the vehicle to switch between the plurality of steering schemes based on the vehicle dynamics data includes at least one of the following methods: Determining that the vehicle is executing the first steering scheme and that the vehicle dynamic data satisfies a first switching condition, and controlling the vehicle to switch to the second steering scheme; Determining that the vehicle is executing the second steering scheme and that the vehicle dynamic data satisfies a second switching condition, and controlling the vehicle to switch to the third steering scheme; It is determined that the vehicle is executing the third steering scheme and that the vehicle dynamic data satisfies a third switching condition, and the vehicle is controlled to switch to the fourth steering scheme.

3. The method according to claim 2, characterized in that The steering control mode includes a first steering control mode, a second steering control mode and a third steering control mode, the first steering scheme includes executing the first steering control mode, the second steering scheme includes cyclically executing the first steering control mode and the second steering control mode according to a preset first cycle, the third steering scheme includes cyclically executing the first steering control mode and the third steering control mode according to a preset second cycle, the fourth steering scheme includes cyclically executing the second steering control mode and the third steering control mode according to a preset third cycle, wherein, The first steering control mode is to lock the first rear wheel of the vehicle, the first rear wheel being the rear wheel on the different side of the steering direction of the vehicle turning in situ, and the second rear wheel of the vehicle rotates in the opposite direction to the front wheel of the vehicle; The second steering control mode is to lock the second rear wheel, and the first rear wheel rotates in the same direction as the front wheel of the vehicle; The third steering control mode is that the first rear wheel, the second rear wheel and the front wheel of the vehicle rotate in the same direction.

4. The method according to claim 1, characterized in that The vehicle dynamics data includes at least one of the following: Motor torque data; Wheel speed data; Inertial Measurement Unit (IMU) data.

5. The method according to claim 1, characterized in that Before acquiring the first target steering scheme from the preset multiple steering schemes, the method further includes: Determining whether the vehicle meets the on-site steering enable condition; In response to the vehicle satisfying the on-the-spot steering on condition, determining whether the vehicle satisfies the on-the-spot steering activation condition; Determine that the vehicle meets the on-the-spot steering activation condition, and continue to execute the step of obtaining a first target steering scheme from a plurality of preset steering schemes.

6. The method according to claim 1, characterized in that The method further comprises: During the on-the-spot turning process, it is determined that the vehicle meets the exit condition, and the on-the-spot turning is stopped.

7. A vehicle in-situ steering control device, characterized in that: include: A first processing module is used to obtain a first target steering scheme from a plurality of preset steering schemes; wherein each of the steering schemes includes cyclically executing a corresponding steering control mode according to a preset cycle period, and the steering control modes corresponding to different steering schemes are not completely the same; A second processing module, configured to control the vehicle to start turning in situ based on the first target turning scheme, and to obtain vehicle dynamic data during the turning in situ process; The third processing module is used to control the vehicle to switch between the multiple steering schemes based on the vehicle dynamic data during the on-the-spot turning process until the vehicle completes the on-the-spot turning.

8. A vehicle, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The method comprises a computer program, which implements the method according to any one of claims 1 to 6 when being executed by a processor.

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