Vehicle turning control method, device and equipment and computer readable storage medium

Abstract

The invention relates to the technical field of vehicles, and provides a vehicle turning control method, device and equipment and a storage medium, and the method comprises the steps that if it is detected that the current vehicle speed is smaller than a first vehicle speed threshold value and the steering angle of a steering wheel is larger than a preset steering angle threshold value, inner side front wheel braking force is controlled to be first target inner side front wheel braking force when a vehicle enters a curve, an outer front wheel is controlled to output a first target front wheel torque, so that the turning radius is the first target radius; if it is recognized that the inner side front wheel braking force is the first target inner side front wheel braking force and the outer side front wheel outputs the first target front wheel torque, the current environment state is detected; and if the current environment state is represented as a first insufficient steering state, the braking force of the inner side rear wheel is controlled to be the first target braking force of the inner side rear wheel, so that the vehicle head avoids the target obstacle. By means of the technical scheme, the problem that in the prior art, the user experience is poor due to the fact that a narrow area can be passed through multiple back-and-forth backing operation can be solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, device, equipment and computer-readable storage medium for controlling vehicle cornering. Background Art

[0002] At present, when a vehicle drives into a narrow area, it is necessary to control the vehicle to avoid obstacles and pass through the narrow area by entering and exiting the curve. However, in the prior art, the user is required to control the vehicle to reverse back and forth to avoid obstacles, but this method requires multiple back and forth reverse operations to pass through the narrow area, which consumes a lot of time and affects the user's driving experience. Summary of the invention

[0003] In view of the above problems, the present application provides a vehicle cornering control method, device, equipment and computer-readable storage medium, which are used to solve the problem in the prior art that multiple backing operations are required to pass through a narrow area, resulting in a poor user experience.

[0004] According to a first aspect of an embodiment of the present application, a vehicle cornering control method is provided, characterized in that the method includes: if it is detected that the current vehicle speed is less than a first vehicle speed threshold and the steering wheel angle is greater than a preset angle threshold, then when entering a curve, the inner front wheel braking force is controlled to be a first target inner front wheel braking force, and the outer front wheel is controlled to output a first target front wheel torque so that the turning radius is a first target radius; if it is identified that the inner front wheel braking force is the first target inner front wheel braking force and the outer front wheel outputs the first target front wheel torque, then the current environmental state is detected; if the current environmental state is characterized by a first understeer state, the inner rear wheel braking force is controlled to be the first target inner rear wheel braking force so that the front of the vehicle avoids the target obstacle.

[0005] In an optional manner, if it is detected that the current vehicle speed is less than a first vehicle speed threshold and the steering wheel angle is greater than a preset angle threshold, it further includes: when entering a curve, controlling the inner rear wheel braking force to be a second target inner rear wheel braking force, and controlling the outer rear wheel driving force to be a first target outer rear wheel torque; wherein the second target inner rear wheel braking force is greater than the first target inner front braking force, and the first target outer rear wheel torque is less than the first target inner front wheel torque.

[0006] In an optional manner, after the front end of the current vehicle avoids the target obstacle, it further includes: if it is identified that the front end of the vehicle avoids the target obstacle, detecting the current environmental state; if the current environmental state is characterized by a second understeer state, controlling the outer front wheel braking force to be the first target outer front wheel braking force when exiting a curve, so that the rear end of the vehicle avoids the target obstacle.

[0007] In an optional manner, if it is detected that the current vehicle speed is less than a first vehicle speed threshold and the steering wheel angle is greater than a preset angle threshold, it further includes: determining whether the on-the-spot U-turn mode is turned on; if the on-the-spot U-turn mode is in the off state, detecting the current vehicle speed and steering wheel angle.

[0008] In an optional manner, after determining whether to turn on the spot mode, the method further includes: if the spot turn mode is on, detecting the current environmental state; if the current environmental state is characterized by a first understeer state, controlling the inner front wheel and the outer rear wheel to brake intermittently, and controlling the outer front wheel to output positive torque and the inner rear wheel to output negative torque, so that the turning radius is the second target radius.

[0009] In an optional manner, controlling the outer front wheel to output the first target front wheel torque further includes: when entering a curve, according to an increase in the current lateral acceleration, controlling the outer front wheel to reduce the output to the first target front wheel torque.

[0010] In an optional manner, the method further includes: when exiting a curve, according to a decrease in the current lateral acceleration, controlling the outer front wheel to increase the output to a third target front wheel torque.

[0011] According to a second aspect provided by an embodiment of the present application, a vehicle cornering control device is provided, the device comprising: a control module, for controlling the inner front wheel braking force to be a first target inner front wheel braking force when entering a curve, and controlling the outer front wheel to output a first target front wheel torque if it is detected that the current vehicle speed is less than a first vehicle speed threshold and the steering wheel angle is greater than a preset angle threshold, so that the turning radius is a first target radius; a detection module, for detecting a current environmental state if it is identified that the inner front wheel braking force is the first target inner front wheel braking force and the outer front wheel outputs the first target front wheel torque; the control module is also for controlling the inner rear wheel braking force to be the first target inner rear wheel braking force if the current environmental state is characterized as a first understeer state, so that the front of the vehicle avoids a target obstacle.

[0012] According to a third aspect provided by an embodiment of the present application, an electronic device is provided, comprising: a controller; a memory for storing one or more programs, wherein when the one or more programs are executed by the controller, the controller implements the vehicle cornering control method: if it is detected that the current vehicle speed is less than a first vehicle speed threshold and the steering wheel angle is greater than a preset angle threshold, then when entering a curve, the inner front wheel braking force is controlled to be a first target inner front wheel braking force, and the outer front wheel is controlled to output a first target front wheel torque so that the turning radius is a first target radius; if it is identified that the inner front wheel braking force is the first target inner front wheel braking force and the outer front wheel outputs the first target front wheel torque, the current environmental state is detected; if the current environmental state is characterized as a first understeer state, the inner rear wheel braking force is controlled to be the first target inner rear wheel braking force so that the front of the vehicle avoids the target obstacle.

[0013] According to a fourth aspect provided by an embodiment of the present application, a computer-readable storage medium is provided, wherein a computer program is stored in the storage medium, wherein the computer program includes at least one executable instruction, and when the executable instruction is executed on a control device / electronic device for a vehicle turning, the control device / electronic device for the vehicle turning performs the following operations of the vehicle turning control method: if it is detected that the current vehicle speed is less than a first vehicle speed threshold, and the steering wheel angle is greater than a preset angle threshold, then when entering a curve, the inner front wheel braking force is controlled to be a first target inner front wheel braking force, and the outer front wheel is controlled to output a first target front wheel torque, so that the turning radius is a first target radius; if it is identified that the inner front wheel braking force is the first target inner front wheel braking force and the outer front wheel outputs the first target front wheel torque, then the current environmental state is detected; if the current environmental state is characterized as a first understeer state, the inner rear wheel braking force is controlled to be the first target inner rear wheel braking force, so that the front of the vehicle avoids the target obstacle.

[0014] The embodiment of the present application detects the current vehicle speed and the steering wheel angle to determine whether to control the turn. If it is detected that the current vehicle speed is less than the first vehicle speed threshold and the steering wheel angle is greater than the preset angle threshold, the turn is controlled. When entering the curve, the inner front wheel braking force is controlled to be the first target inner front wheel braking force, and the outer front wheel is controlled to output the first front wheel torque, so that the turning radius is reduced as much as possible, so that the turning radius is the first target radius, and the target obstacle is avoided as much as possible. After identifying that the inner front wheel braking force is the first target inner front wheel braking force and the outer front wheel outputs the first target front wheel torque, the current environmental state is detected again to determine whether there is an understeer state. If it is determined that the current environmental state is the first understeer state, the inner rear wheel braking force is controlled to be the first target inner rear wheel braking force, and the braking inertia is used to make the front of the vehicle avoid the target obstacle as much as possible. There is no need to reverse multiple times to avoid obstacles, which brings a good experience to the user.

[0015] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present application. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0017] Figure 1 A flow chart showing a first embodiment of a vehicle cornering control method provided by the present application;

[0018] Figure 2 A schematic diagram of a first scenario of a vehicle turning provided by an embodiment of the present application is shown;

[0019] Figure 3 A schematic diagram of a second scenario of a vehicle turning provided by an embodiment of the present application is shown;

[0020] Figure 4 A flow chart showing a second embodiment of a vehicle cornering control method provided by the present application;

[0021] Figure 5 A third scenario schematic diagram of a vehicle turning provided by the present application is shown;

[0022] Figure 6 A schematic diagram of a fourth scenario of a vehicle turning provided by the present application is shown;

[0023] Figure 7 A flowchart of a third embodiment of a vehicle cornering control method provided by the present application is shown;

[0024] Figure 8 A flowchart of a fourth embodiment of a vehicle cornering control method provided by the present application is shown;

[0025] Fig. 9 A schematic structural diagram of an embodiment of a vehicle cornering control device provided by the present application is shown;

[0026] Fig.10 A schematic structural diagram of an embodiment of an electronic device provided by the present application is shown. DETAILED DESCRIPTION

[0027] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0028] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0029] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0030] The term "multiple" as used in this application refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0031] Figure 1 The flowchart of the first embodiment of a vehicle cornering control method provided by the present application is shown, and the method is executed by the vehicle. Figure 1 As shown, the method comprises the following steps:

[0032] Step S110: if it is detected that the current vehicle speed is less than the first vehicle speed threshold, and the steering wheel angle is greater than the preset angle threshold, then when entering the curve, the inner front wheel braking force is controlled to be the first target inner front wheel braking force, and the outer front wheel is controlled to output the first target front wheel torque, so that the turning radius is the first target radius;

[0033] in, Figure 2 A schematic diagram of a first scene of a vehicle turning provided by an embodiment of the present application is shown, see Figure 1 and Figure 2As shown, the process of the vehicle avoiding an obstacle can be regarded as a turning process, first entering the curve and then exiting the curve. If it is detected that the current vehicle speed is less than the first vehicle speed threshold, and the steering wheel angle is greater than the preset angle threshold, it means that the driver is turning the steering wheel and slowing down, and the driver enters the curve with the intention of avoiding the obstacle. At this time, the inner front wheel braking force is controlled to be the first target inner front wheel braking force, reducing the radius by more than half, and the outer front wheel is controlled to output the first target front wheel torque to drive the vehicle forward, so that the current vehicle's turning radius can be reduced to the first target radius, and the target obstacle can be avoided as much as possible.

[0034] It should be noted that the inner front wheel can be determined according to the direction of steering wheel rotation. When the steering wheel turns left, the inner front wheel is the left front wheel, and the inner rear wheel is the left rear wheel. If it is detected that the current vehicle speed is less than the first vehicle speed threshold and the steering wheel turns left at a turning angle greater than a preset threshold, the left front wheel braking force is controlled to be the first target inner front wheel braking force, and the right front wheel is controlled to output the first target front wheel torque, so that the amplitude of the vehicle turning left increases, thereby avoiding the target obstacle; when the steering wheel turns right, the inner front wheel is the right front wheel, and the inner rear wheel is the right rear wheel. If it is detected that the current vehicle speed is less than the first vehicle speed threshold and the steering wheel turns right at a turning angle greater than a preset threshold, the right front wheel braking force is controlled to be the first target inner front wheel braking force, and the left front wheel is controlled to output the first target front wheel torque, so that the amplitude of the vehicle turning right increases, thereby avoiding the target obstacle. Specifically, the first vehicle speed threshold can be set to 30km / h, and the preset turning angle threshold can be set to 180 degrees.

[0035] Step S120: if it is identified that the inner front wheel braking force is the first target inner front wheel braking force and the outer front wheel outputs the first target front wheel torque, then detecting the current environmental state;

[0036] Among them, if it is identified that the inner front wheel braking force is the first target inner front wheel braking force and the outer front wheel outputs the first target front wheel torque, it means that the current vehicle is turning with a minimum radius, but there may still be an understeer scenario. By detecting the current environmental state, it is determined whether the current environmental state will cause the vehicle to understeer and fail to avoid the target obstacle.

[0037] Step S130: If the current environmental state is characterized as a first understeering state, the inner rear wheel braking force is controlled to be a first target inner rear wheel braking force so that the front of the vehicle avoids the target obstacle.

[0038] Specifically, an external camera outside the vehicle is used to identify an image of the external environment in which the vehicle is currently located. The current narrow area environmental parameters can be extracted based on the external image, or the current narrow area environmental parameters can be obtained through a lidar test. According to the current narrow area environmental parameters, vehicle body size parameters and the current steering wheel rotation angle, it can be calculated to determine whether the current remaining steering angle of the steering wheel can control the vehicle to pass through the narrow area and avoid the target obstacle, and the magnitude of the first target inner rear wheel braking force can be calculated according to the remaining steering angle of the steering wheel and the current driving torque. According to the first target inner rear wheel braking force, the front of the vehicle is controlled to rotate inward, and the target obstacle is avoided by using braking inertia. Figure 3 A second scene schematic diagram of a vehicle turning provided by an embodiment of the present application is shown, see Figure 1 and Figure 3 As shown, when the vehicle turns left, the first target inner rear wheel braking force within the left rear wheel braking force is controlled. At this time, a leftward force will appear on the front of the vehicle, allowing the front of the vehicle to avoid the target obstacle.

[0039] By detecting the current vehicle speed and steering wheel angle, it is determined whether to control the turn. If it is detected that the current vehicle speed is less than the first vehicle speed threshold and the steering wheel angle is greater than the preset angle threshold, the turn is controlled. When entering the curve, the inner front wheel braking force is controlled to be the first target inner front wheel braking force, and the outer front wheel is controlled to output the first front wheel torque, so that the turning radius is reduced as much as possible, so that the turning radius is the first target radius, and the target obstacle is avoided as much as possible. After identifying that the inner front wheel braking force is the first target inner front wheel braking force and the outer front wheel outputs the first target front wheel torque, the current environmental state is detected again to determine whether there is an understeer state. If it is determined that the current environmental state is the first understeer state, the inner rear wheel braking force is controlled to be the first target inner rear wheel braking force, and the braking inertia is used to make the front of the vehicle avoid the target obstacle as much as possible. There is no need to reverse multiple times to avoid obstacles, which brings a good experience to users.

[0040] In another embodiment of the present application, if it is detected that the current vehicle speed is less than the first vehicle speed threshold and the steering wheel angle is greater than the preset angle threshold, the method further includes:

[0041] When entering a curve, the inner rear wheel braking force is controlled to be a second target inner rear wheel braking force, and the outer rear wheel driving force is controlled to be a first target outer rear wheel torque; wherein the second target inner rear wheel braking force is greater than the first target inner front wheel braking force, and the first target outer rear wheel torque is less than the first target inner front wheel torque.

[0042] In this embodiment, when entering a curve, the inner rear wheel braking force can be controlled to increase slightly to a second target inner rear wheel braking force, and the outer rear wheel driving force can be controlled to increase slightly to a first target outer rear wheel torque, thereby further increasing the centripetal force on the turning side, thereby controlling the turning radius to further decrease, leaving more turning space for avoiding target obstacles.

[0043] Figure 4 A flow chart of a second embodiment of a vehicle cornering control method provided by the present application is shown, and the method is executed by the vehicle. Figure 4 As shown, after the front end of the current vehicle avoids the target obstacle, the following steps are further included:

[0044] Step S210: If it is identified that the vehicle head avoids the target obstacle, the current environment state is detected;

[0045] in, Figure 5 A third scenario schematic diagram of a vehicle turning provided by the present application is shown, see Figure 5 As shown, after the front of the vehicle avoids the target obstacle, if oversteering occurs, the rear of the vehicle may still collide with the target obstacle and understeering will occur again. By detecting the current environmental state, it is determined whether the rear of the vehicle can avoid the target obstacle.

[0046] Step S220: If the current environmental state is characterized by the second understeering state, the outer front wheel braking force is controlled to be the first target outer front wheel braking force when exiting the curve, so that the rear end of the vehicle avoids the target obstacle.

[0047] Specifically, an external camera outside the vehicle is used to identify an image of the external environment in which the vehicle is currently located. The current narrow area environmental parameters can be extracted based on the external image, or the current narrow area environmental parameters can be obtained through a lidar test. Based on the current narrow area environmental parameters, vehicle body size parameters and the current steering wheel rotation angle, it can be calculated to determine whether the current remaining steering angle of the steering wheel can control the rear end of the vehicle to pass through the narrow area and avoid the target obstacle, and the size of the first target outer front wheel braking force can be calculated based on the remaining steering angle of the steering wheel and the current driving torque. According to the first target outer front wheel braking force, the rear end of the vehicle is controlled to rotate outward to avoid the target obstacle. Figure 6 A fourth scenario schematic diagram of a vehicle turning provided by the present application is shown, see Figure 6 As shown, the car is driving according to the driver's steering intention. When turning right, the second understeering state occurs, and the left front wheel braking force is controlled to be the first outer front wheel braking force, so that the rear end of the car is swung to the left according to the steering force, thereby avoiding the target obstacle.

[0048] Figure 7A flowchart of a third embodiment of a vehicle cornering control method provided by the present application is shown, and the method is executed by the vehicle. Figure 7 As shown, if it is detected that the current vehicle speed is less than the first vehicle speed threshold and the steering wheel angle is greater than the preset angle threshold, the method further includes:

[0049] Step S310: Determine whether to turn around in situ mode;

[0050] Among them, in the U-turn on the spot mode, the vehicle can be turned on the spot, and in this mode, turning can be achieved based on the control performance parameters in the U-turn mode.

[0051] Step S320: If the on-the-spot U-turn mode is in an off state, the current vehicle speed and steering wheel angle are detected.

[0052] Among them, if the on-the-spot U-turn mode is in the off state, the current vehicle speed and steering wheel angle are detected to determine whether to enter the smart cornering mode. If it is detected that the current vehicle speed is less than the first vehicle speed threshold and the steering wheel angle is greater than the preset angle threshold, the braking cornering mode is entered.

[0053] Figure 8 A flowchart of a fourth embodiment of a vehicle cornering control method provided by the present application is shown, and the method is executed by the vehicle. Figure 8 As shown, after determining whether to turn on the spot mode, the method further includes:

[0054] Step S410: If the on-the-spot U-turn mode is in the on-state, detecting the current environment state;

[0055] Among them, if the on-the-spot U-turn mode is in the on-the-spot U-turn mode, turning in a narrow area can also be achieved in the on-the-spot U-turn mode, and the current environmental state can be detected to determine whether it enters the first understeering state.

[0056] Step S420: If the current environmental state is characterized as a first understeering state, the inner front wheel and the outer rear wheel are controlled to be intermittently braked, and the outer front wheel is controlled to output a positive torque and the inner rear wheel is controlled to output a negative torque, so that the turning radius is a second target radius.

[0057] Specifically, the external environment image of the current vehicle is identified by using the vehicle's external camera, and the current narrow area environment parameters can be extracted based on the external image, or the current narrow area environment parameters can be obtained through laser radar testing. According to the current narrow area environment parameters, vehicle body size parameters and the current steering wheel rotation angle, it can be calculated to determine whether the current steering wheel remaining steering angle can control the vehicle to pass through the narrow area and avoid the target obstacle. By controlling the inner front wheel and the outer rear wheel to brake intermittently, and controlling the outer front wheel to output positive torque and the inner rear wheel to output negative torque, the centripetal force on the steering side can be increased, so that the turning radius is reduced to the second target radius, thereby avoiding the target obstacle. For example, when turning left, control the intermittent braking between the left front wheel and the right rear wheel, control the right front wheel to output positive torque, and control the left rear wheel to output negative torque; when turning right, control the intermittent braking between the right front wheel and the left rear wheel, control the left front wheel to output positive torque, and control the right rear wheel to output negative torque.

[0058] In another embodiment of the present application, controlling the outer front wheel to output the first target front wheel torque further includes: when entering a curve, according to an increase in the current lateral acceleration, controlling the outer front wheel to reduce the output to the first target front wheel torque.

[0059] In this embodiment, when entering a curve, due to the increase in lateral acceleration, the outer front wheel is controlled to reduce the output to the first target front wheel torque, thereby preventing the vehicle from oversteering and maintaining the expected steering characteristics.

[0060] In another embodiment of the present application, the method further includes: when exiting a curve, according to a decrease in the current lateral acceleration, controlling the outer front wheel to increase the output to a third target front wheel torque.

[0061] When exiting a curve, due to the reduction in lateral acceleration, the outer front wheel is controlled to increase the output to the third target front wheel torque, so that the vehicle can quickly exit the curve and maintain the pre-steering characteristics.

[0062] Fig. 9 A schematic diagram showing a structure of an embodiment of a vehicle cornering control device provided by the present application is shown. Fig. 9 As shown, the device 500 includes: a control module 510 and a detection module 520 .

[0063] The control module 510 is configured to control the inner front wheel braking force to be a first target inner front wheel braking force when entering a curve, and control the outer front wheel to output a first target front wheel torque, so that the turning radius is the first target radius, if it is detected that the current vehicle speed is less than a first vehicle speed threshold and the steering wheel angle is greater than a preset angle threshold;

[0064] A detection module 520, configured to detect a current environmental state if it is identified that the inner front wheel braking force is the first target inner front wheel braking force and the outer front wheel outputs the first target front wheel torque;

[0065] The control module 510 is further configured to control the inner rear wheel braking force to be a first target inner rear wheel braking force if the current environmental state is characterized as a first understeering state, so as to enable the front of the vehicle to avoid the target obstacle.

[0066] It should be noted that the vehicle cornering control device provided in the above embodiment and the vehicle cornering control method provided in the above embodiment belong to the same concept, and the specific manner in which each module and unit performs operations has been described in detail in the method embodiment and will not be repeated here.

[0067] Fig.10 A structural diagram of an embodiment of the electronic device provided by the present application is shown, which shows a structural diagram of a computer system suitable for implementing the electronic device of the embodiment of the present application. The specific embodiment of the present application does not limit the specific implementation of the electronic device.

[0068] See also Fig.10 As shown, the electronic device includes: a controller; a memory for storing one or more programs, and when the one or more programs are executed by the controller, the above-mentioned vehicle cornering control method is executed.

[0069] Please continue reading Fig.10 As shown, the computer system 600 of the electronic device includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 602 or the program loaded from the storage part 608 to the random access memory (RAM) 603, such as executing the method in the above embodiment. In RAM 603, various programs and data required for system operation are also stored. CPU 601, ROM 602 and RAM 603 are connected to each other through bus 604. Input / output (I / O) interface 605 is also connected to bus 604.

[0070] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed so that a computer program read therefrom is installed into the storage section 608 as needed.

[0071] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 609, and / or installed from a removable medium 611. When the computer program is executed by a central processing unit (CPU) 601, various functions defined in the system of the present application are executed.

[0072] Another aspect of the present application further provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the vehicle cornering control method described above is implemented. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0073] Another aspect of the present application also provides a computer program product or computer program, which includes at least one executable instruction. When the executable instruction runs on a vehicle cornering control device / electronic device, the vehicle cornering control device / electronic device executes the vehicle cornering control method as described above.

[0074] The executable instructions may be specifically used to cause the vehicle's control device / electronic device for turning to perform the following operations:

[0075] If it is detected that the current vehicle speed is less than the first vehicle speed threshold, and the steering wheel angle is greater than the preset angle threshold, then when entering the curve, the inner front wheel braking force is controlled to be the first target inner front wheel braking force, and the outer front wheel is controlled to output the first target front wheel torque, so that the turning radius is the first target radius;

[0076] If it is identified that the inner front wheel braking force is the first target inner front wheel braking force and the outer front wheel outputs the first target front wheel torque, detecting the current environmental state;

[0077] If the current environmental state is characterized by a first understeering state, the inner rear wheel braking force is controlled to be a first target inner rear wheel braking force so that the front of the vehicle avoids the target obstacle.

[0078] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium can include a data signal propagated in a baseband or as a part of a carrier wave, wherein a computer-readable computer program is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0079] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0080] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0081] According to one aspect of an embodiment of the present application, a computer system is also provided, including a central processing unit (CPU), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage portion into a random access memory (RAM), such as executing the method in the above embodiment. In RAM, various programs and data required for system operation are also stored. CPU, ROM and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0082] The following components are connected to the I / O interface: an input part including a keyboard, a mouse, etc.; an output part including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage part including a hard disk, etc.; and a communication part including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication part performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as needed. Removable media, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., are installed on the drive as needed so that the computer program read therefrom is installed into the storage part as needed.

[0083] The above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. A person skilled in the art can easily make corresponding changes or modifications based on the main concept and spirit of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection required by the claims.

Claims

1. A method for controlling a vehicle turning, characterized in that: The method comprises: If it is detected that the current vehicle speed is less than the first vehicle speed threshold, and the steering wheel angle is greater than the preset angle threshold, then when entering the curve, the inner front wheel braking force is controlled to be the first target inner front wheel braking force, and the outer front wheel is controlled to output the first target front wheel torque, so that the turning radius is the first target radius; If it is identified that the inner front wheel braking force is the first target inner front wheel braking force and the outer front wheel outputs the first target front wheel torque, detecting the current environmental state; If the current environmental state is characterized by a first understeering state, the inner rear wheel braking force is controlled to be a first target inner rear wheel braking force so that the front of the vehicle avoids the target obstacle.

2. The vehicle cornering control method according to claim 1, characterized in that: If it is detected that the current vehicle speed is less than the first vehicle speed threshold and the steering wheel angle is greater than the preset steering angle threshold, the method further includes: When entering a curve, the inner rear wheel braking force is controlled to be a second target inner rear wheel braking force, and the outer rear wheel driving force is controlled to be a first target outer rear wheel torque; wherein the second target inner rear wheel braking force is greater than the first target inner front wheel braking force, and the first target outer rear wheel torque is less than the first target inner front wheel torque.

3. The vehicle cornering control method according to claim 1, characterized in that: After the front end of the current vehicle avoids the target obstacle, the method further includes: If it is recognized that the vehicle head avoids the target obstacle, the current environment state is detected; If the current environmental state is characterized by a second understeering state, the outer front wheel braking force is controlled to be the first target outer front wheel braking force when exiting a curve, so that the rear end of the vehicle avoids the target obstacle.

4. The vehicle cornering control method according to claim 1, characterized in that: If it is detected that the current vehicle speed is less than the first vehicle speed threshold and the steering wheel angle is greater than the preset angle threshold, the method further includes: Determine whether to turn on the spot mode; If the pivot point mode is in an off state, the current vehicle speed and steering wheel angle are detected.

5. The vehicle cornering control method according to claim 4, characterized in that: After determining whether to turn on the spot mode, the method further includes: If the on-the-spot U-turn mode is in the on-state, detecting the current environmental state; If the current environmental state is characterized by a first understeer state, the inner front wheel and the outer rear wheel are controlled to be braked intermittently, and the outer front wheel is controlled to output a positive torque and the inner rear wheel is controlled to output a negative torque, so that the turning radius is the second target radius.

6. The vehicle cornering control method according to claim 1, characterized in that: The controlling the outer front wheel to output the first target front wheel torque further comprises: When entering a curve, according to the current increase in lateral acceleration, the outer front wheel is controlled to reduce the output to the first target front wheel torque.

7. The vehicle cornering control method according to claim 3, characterized in that: The method further comprises: When exiting a curve, the outer front wheel is controlled to increase the output to the third target front wheel torque according to the reduction of the current lateral acceleration.

8. A vehicle cornering control device, characterized in that: The device comprises: a control module, configured to control the inner front wheel braking force to be a first target inner front wheel braking force when entering a curve, and control the outer front wheel to output a first target front wheel torque, so that the turning radius is the first target radius, if it is detected that the current vehicle speed is less than a first vehicle speed threshold and the steering wheel angle is greater than a preset angle threshold; a detection module, configured to detect a current environmental state if it is recognized that the inner front wheel braking force is the first target inner front wheel braking force and the outer front wheel outputs the first target front wheel torque; The control module is further configured to control the inner rear wheel braking force to be a first target inner rear wheel braking force if the current environmental state is characterized as a first understeering state, so as to enable the front of the vehicle to avoid a target obstacle.

9. An electronic device, characterized in that: include: Controller; A memory for storing one or more programs, which, when executed by the controller, enables the controller to implement the vehicle cornering control method described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, which includes at least one executable instruction. When the executable instruction is executed on a vehicle cornering control device / electronic device, the vehicle cornering control device / electronic device performs the operation of the vehicle cornering control method as described in any one of claims 1 to 7.

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