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

Abstract

The application relates to the technical field of vehicles and provides a vehicle corner passing control method, device and equipment and a storage medium. The method comprises the following steps: if it is detected that the current vehicle speed is less than a first vehicle speed threshold value and the steering wheel rotation angle is greater than a preset rotation angle threshold value, the inner front wheel braking force is controlled to be a first target inner front wheel braking force and the outer front wheel outputs a first target front wheel torque when entering a curve, so that the corner passing radius is a first target radius; if the inner front wheel braking force is identified as the first target inner front wheel braking force and the outer front wheel outputs the first target front wheel torque, the current environment state is detected; and if the current environment state represents 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 vehicle head avoids a target obstacle. The technical scheme of the application can solve the problem that in the prior art, multiple back-and-forth reversing operations are required to pass through a narrow area, resulting in poor user experience.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, specifically to a method, apparatus, device, and computer-readable storage medium for controlling vehicle cornering. Background Technology

[0002] Currently, when a vehicle approaches a narrow area, it needs to be controlled to avoid obstacles and navigate curves. However, existing technology requires the user to reverse back and forth to avoid obstacles, which requires multiple reversing maneuvers to pass through the narrow area, consuming a significant amount of time and negatively impacting the user's driving experience. Summary of the Invention

[0003] In view of the above problems, this application provides a vehicle cornering control method, device, equipment and computer-readable storage medium to solve the problem of poor user experience caused by having to perform multiple back-and-forth reversing operations to pass through narrow areas in the prior art.

[0004] According to a first aspect of the embodiments of this application, a method for controlling a vehicle to corner 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 steering angle threshold, then when entering a curve, the braking force of the inner front wheel 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 cornering radius is a first target radius; if it is identified that the braking force of the inner front wheel 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, then the braking force of the inner rear wheel 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 one alternative approach, 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 steering angle threshold, the method further includes: controlling the braking force of the inner rear wheel to a second target inner rear wheel braking force and controlling the driving force of the outer rear wheel to a first target outer rear wheel torque when entering a curve; 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 one alternative approach, after the current vehicle front avoids the target obstacle, the method further includes: if it is detected that the vehicle front avoids the target obstacle, then detecting the current environmental state; if the current environmental state is characterized as a second understeer state, then controlling the braking force of the outer front wheel to the first target outer front wheel braking force when exiting the curve, so as to make the rear of the vehicle avoid the target obstacle.

[0007] In one alternative approach, before detecting that the current vehicle speed is less than a first vehicle speed threshold and the steering wheel angle is greater than a preset steering angle threshold, the method further includes: determining whether to activate the U-turn mode; if the U-turn mode is deactivated, then detecting the current vehicle speed and steering wheel angle.

[0008] In one alternative approach, after determining whether the U-turn mode is activated, the method further includes: if the U-turn mode is activated, detecting the current environmental state; if the current environmental state is characterized as 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 one alternative approach, controlling the outer front wheel to output a first target front wheel torque further includes: when entering a curve, controlling the outer front wheel to reduce the output of the first target front wheel torque based on the current increase in lateral acceleration.

[0010] In one alternative approach, the method further includes: when exiting a curve, controlling the outer front wheel to increase the output torque to a third target front wheel based on the current decrease in lateral acceleration.

[0011] According to a second aspect provided in the embodiments of this application, a vehicle cornering control device is provided. The device includes: a control module, configured to, 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 steering angle threshold, control the braking force of the inner front wheel to a first target inner front wheel braking force and control the output of the outer front wheel to a first target front wheel torque when entering a curve, so that the cornering radius is a first target radius; a detection module, configured to, if it is identified that the braking force of the inner front wheel is the first target inner front wheel braking force and the output of the outer front wheel to the first target front wheel torque, detect the current environmental state; the control module is further configured to, if the current environmental state is characterized as a first understeer state, control the braking force of the inner rear wheel to a first target inner rear wheel braking force, so that the front of the vehicle avoids the target obstacle.

[0012] According to a third aspect provided in the embodiments of this application, an electronic device is provided, including: a controller; and a memory for storing one or more programs, wherein when the controller executes one or more programs, the controller implements a method for controlling a vehicle to corner: 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 steering angle threshold, then when entering a curve, the braking force of the inner front wheel 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 cornering radius is a first target radius; if it is recognized that the braking force of the inner front wheel 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, then the braking force of the inner rear wheel is controlled to be the first target inner rear wheel braking force, so that the front of the vehicle avoids a target obstacle.

[0013] According to a fourth aspect provided in the embodiments of this application, a computer-readable storage medium is provided, the storage medium storing a computer program, the computer program including at least one executable instruction, which, when executed on a vehicle cornering control device / electronic device, causes the vehicle cornering control device / electronic device to perform the following operations of 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 steering angle threshold, then when entering a curve, the braking force of the inner front wheel 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 cornering radius is a first target radius; if it is recognized that the braking force of the inner front wheel 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, then the braking force of the inner rear wheel is controlled to be the first target inner rear wheel braking force, so that the front of the vehicle avoids the target obstacle.

[0014] This embodiment detects the current vehicle speed and steering wheel angle to determine whether to control the cornering. If the current vehicle speed is less than a first speed threshold and the steering wheel angle is greater than a preset angle threshold, cornering control begins. Upon entering the curve, the braking force of the inner front wheel is controlled to be the first target inner front wheel braking force, and the output torque of the outer front wheel is controlled to minimize the cornering radius to the first target radius, thus avoiding the target obstacle as much as possible. After recognizing that the braking force of the inner front wheel is the first target inner front wheel braking force and the output torque of the outer front wheel are the first target front wheel torque, the current environmental state is detected again to determine whether there is understeer. If the current environmental state is determined to be the first understeer state, the braking force of the inner rear wheel is controlled to be the first target inner rear wheel braking force. By utilizing braking inertia, the front of the vehicle avoids the target obstacle as much as possible, eliminating the need for multiple reversing maneuvers to avoid the obstacle and providing a better user experience.

[0015] The above description is merely an overview of the technical solutions of the embodiments of this application. In order to better understand the technical means of the embodiments of this application and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of this application more obvious and understandable, specific implementation methods of this application are described below. Attached Figure Description

[0016] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0017] Figure 1 A flowchart of a first embodiment of a vehicle cornering control method provided in this application is shown;

[0018] Figure 2 This illustration shows a first scenario of a vehicle cornering according to an embodiment of this application;

[0019] Figure 3 This illustration shows a second scenario diagram of a vehicle cornering according to an embodiment of this application;

[0020] Figure 4 A flowchart of a second embodiment of a vehicle cornering control method provided in this application is shown;

[0021] Figure 5 This application provides a schematic diagram of a third scenario for a vehicle cornering.

[0022] Figure 6 This application provides a schematic diagram of a fourth scenario for a vehicle cornering.

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

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

[0025] Figure 9 A schematic diagram of an embodiment of a vehicle cornering control device provided in this application is shown;

[0026] Figure 10 A schematic diagram of an embodiment of the electronic device provided in this application is shown. Detailed Implementation

[0027] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended 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 can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0029] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0030] In this application, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0031] Figure 1 A flowchart illustrating a first embodiment of a vehicle cornering control method provided in this application is shown, the method being executed by the vehicle. Please refer to... Figure 1 As shown, the method includes the following steps:

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

[0033] in, Figure 2 This illustration shows a first scenario of a vehicle cornering according to an embodiment of this application. Please refer to [link / reference]. Figure 1 and Figure 2As shown, the process of a vehicle avoiding an obstacle can be considered as a cornering process: first entering the curve, then exiting it. If the current vehicle speed is detected to be less than a first speed threshold and the steering wheel angle is greater than a preset angle threshold, it indicates that the driver is turning the steering wheel and decelerating. The driver is entering the curve with the intention of avoiding the obstacle. At this time, the braking force of the inner front wheel is controlled to the first target inner front wheel braking force, reducing the radius by more than half. The outer front wheel is controlled to output the first target front wheel torque, driving the vehicle forward. This reduces the current vehicle's cornering radius to the first target radius, allowing it to avoid the target obstacle as much as possible.

[0034] It should be noted that the inner front wheel is determined by the direction of steering wheel rotation. When the steering wheel turns left, the inner front wheel becomes the left front wheel, and the inner rear wheel becomes the left rear wheel. If the current vehicle speed is detected to be less than a first speed threshold, and the steering wheel's leftward turning angle is greater than a preset threshold, then the braking force of the left front wheel is controlled to be the first target inner front wheel braking force, and the right front wheel's output torque is controlled to be the first target front wheel torque, increasing the degree of leftward turning of the vehicle to avoid the target obstacle. When the steering wheel turns right, the inner front wheel becomes the right front wheel, and the inner rear wheel becomes the right rear wheel. If the current vehicle speed is detected to be less than a first speed threshold, and the steering wheel's rightward turning angle is greater than a preset threshold, then the braking force of the right front wheel is controlled to be the first target inner front wheel braking force, and the left front wheel's output torque is controlled to be the first target front wheel torque, increasing the degree of rightward turning of the vehicle to avoid the target obstacle. Specifically, the first speed threshold can be set to 30 km / h, and the preset turning angle threshold can be set to 180 degrees.

[0035] Step S120: If the inner front wheel braking force is identified as 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;

[0036] If the braking force of the inner front wheel is identified as the first target inner front wheel braking force and the output torque of the outer front wheel is the first target front wheel torque, it indicates that the vehicle is currently cornering with the minimum radius, but there may still be a scenario of understeer. By detecting the current environmental state, it is determined whether the current environmental state will cause the vehicle to understeer and be unable to avoid the target obstacle.

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

[0038] Specifically, the vehicle uses an external camera to identify the external environment image of the vehicle. The environmental parameters of the current narrow area can be extracted from the external image, or the environmental parameters of the current narrow area can be obtained by LiDAR testing. Based on the environmental parameters of the current narrow area, the vehicle body size parameters, and the current steering wheel rotation angle, it can be calculated whether the remaining steering wheel angle can control the vehicle to pass through the narrow area and avoid the target obstacle. The magnitude of the braking force of the inner rear wheel of the first target can be calculated based on the remaining steering wheel angle and the current driving torque. Based on the braking force of the inner rear wheel of the first target, the front of the vehicle is controlled to turn inward, and the braking inertia is used to avoid the target obstacle. Figure 3 This illustration shows a second scenario of a vehicle cornering according to an embodiment of this application. Please refer to [link / reference]. Figure 1 and Figure 3 As shown, when the vehicle turns to the left, the braking force of the rear wheel inside the first target is controlled within the braking force of the left rear wheel. At this time, a force will appear on the front of the vehicle to the left, causing the front of the vehicle to avoid the target obstacle.

[0039] By detecting the current vehicle speed and steering wheel angle, it determines whether to control the cornering. If the current vehicle speed is less than a first speed threshold and the steering wheel angle is greater than a preset angle threshold, cornering control begins. Upon entering the corner, the braking force of the inner front wheel is controlled to the first target inner front wheel braking force, and the output torque of the outer front wheel is controlled to minimize the cornering radius, making it the first target radius, and avoiding the target obstacle as much as possible. After recognizing that the braking force of the inner front wheel is the first target inner front wheel braking force and the output torque of the outer front wheel are the first target front wheel, the current environmental state is detected again to determine whether there is understeer. If the current environmental state is determined to be the first understeer state, the braking force of the inner rear wheel is controlled to the first target inner rear wheel braking force. By utilizing braking inertia, the front of the car avoids the target obstacle as much as possible, without having to reverse multiple times to avoid the obstacle, providing a good user experience.

[0040] In another embodiment of this application, 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 steering angle threshold, the method further includes:

[0041] When entering a curve, the braking force of the inner rear wheel is controlled to be the second target inner rear wheel braking force, and the driving force of the outer rear wheel is controlled to be the 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.

[0042] In this embodiment, when entering a curve, the braking force of the inner rear wheel can be slightly increased to the braking force of the second target inner rear wheel, and the driving force of the outer rear wheel can be slightly increased to the torque of the first target outer rear wheel, further increasing the centripetal force on the turning side, thereby controlling the turning radius to be further reduced, leaving more turning space to avoid the target obstacle.

[0043] Figure 4 A flowchart illustrating a second embodiment of a vehicle cornering control method provided in this application is shown, the method being executed by the vehicle. Please refer to... Figure 4 As shown, after the front of the current vehicle avoids the target obstacle, the following steps are further included:

[0044] Step S210: If it is detected that the front of the vehicle avoids the target obstacle, then the current environmental state is detected;

[0045] in, Figure 5 This application provides a schematic diagram of a third scenario for a vehicle cornering. Please refer to [link / reference]. Figure 5 As shown, if oversteering occurs after the front of the vehicle avoids the target obstacle, the rear of the vehicle may still collide with the target obstacle, resulting in understeering again. By detecting the current environmental conditions, it can be determined whether the rear of the vehicle can avoid the target obstacle.

[0046] Step S220: If the current environmental state is characterized as a second understeer state, then when exiting the curve, control the braking force of the outer front wheel to the first target outer front wheel braking force so that the rear of the vehicle avoids the target obstacle.

[0047] Specifically, the vehicle uses an external camera to identify the external environment image of the vehicle. The environmental parameters of the current narrow area can be extracted from the external image. Alternatively, the environmental parameters of the current narrow area can be obtained through LiDAR testing. Based on the environmental parameters of the current narrow area, the vehicle body size parameters, and the current steering wheel rotation angle, it can be calculated whether the remaining steering angle of the steering wheel can control the rear of the vehicle to pass through the narrow area and avoid the target obstacle. Furthermore, the magnitude of the braking force on the outer front wheel of the first target can be calculated based on the remaining steering angle of the steering wheel and the current driving torque. The vehicle rear is then controlled to rotate outward to avoid the target obstacle based on the braking force on the outer front wheel of the first target. Figure 6 This application provides a schematic diagram of a fourth scenario for a vehicle cornering. Please refer to [link / reference]. Figure 6 As shown, the car is driving according to the driver's steering intention. When turning right, a second understeer state occurs. The braking force of the left front wheel is then controlled to be the first outer front wheel braking force, so that the rear of the car swings to the left according to the steering force, thereby allowing the rear of the car to avoid the target obstacle.

[0048] Figure 7A flowchart illustrating a third embodiment of a vehicle cornering control method provided in this application is shown, the method being executed by the vehicle. Please refer to... Figure 7 As shown, before detecting that the current vehicle speed is less than a first vehicle speed threshold and the steering wheel angle is greater than a preset steering angle threshold, the procedure further includes:

[0049] Step S310: Determine whether the U-turn mode is activated;

[0050] In the U-turn mode, the vehicle can be turned in place, and cornering can be achieved based on the control performance parameters of the U-turn mode.

[0051] Step S320: If the U-turn mode is off, then detect the current vehicle speed and steering wheel angle.

[0052] If the U-turn mode is off, the current vehicle speed and steering wheel angle are detected to determine whether to enter the intelligent cornering mode. If 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 the braking cornering mode is entered.

[0053] Figure 8 A flowchart illustrating a fourth embodiment of a vehicle cornering control method provided in this application is shown, the method being executed by the vehicle. Please refer to... Figure 8 As shown, after determining whether to activate the U-turn mode, the process further includes:

[0054] Step S410: If the in-place U-turn mode is enabled, then detect the current environmental status;

[0055] If the U-turn mode is enabled, it can also be used to turn in narrow areas. The current environmental conditions can be detected to determine whether the first understeering state has been entered.

[0056] Step S420: If the current environmental state is characterized as a first understeer state, then control the inner front wheel and the outer rear wheel to brake intermittently, and control 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.

[0057] Specifically, the system uses an external camera to identify the vehicle's surrounding environment. Environmental parameters for the current narrow area can be extracted from this image, or obtained through LiDAR testing. Based on these parameters, the vehicle's dimensions, and the current steering wheel angle, the system calculates whether the remaining steering angle is sufficient to allow the vehicle to navigate the narrow area and avoid the target obstacle. By intermittently braking the inner front wheel and the outer rear wheel, 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 is increased, thereby reducing the turning radius to the second target radius and thus avoiding the target obstacle. For example, when turning left, intermittent braking is controlled between the left front wheel and the right rear wheel, with the right front wheel outputting positive torque and the left rear wheel outputting negative torque; when turning right, intermittent braking is controlled between the right front wheel and the left rear wheel, with the left front wheel outputting positive torque and the right rear wheel outputting negative torque.

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

[0059] In this embodiment, when entering a curve, due to the increase in lateral acceleration, the torque output to the first target front wheel is reduced by controlling the outer front wheel to prevent oversteering and maintain the expected steering characteristics.

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

[0061] When exiting a curve, as the lateral acceleration decreases, by controlling the outer front wheel to increase the torque output to the third target front wheel, the vehicle can quickly exit the curve and maintain the pre-steer characteristics.

[0062] Figure 9 A schematic diagram of an embodiment of a vehicle cornering control device provided in this application is shown. Please refer to [link / reference]. Figure 9 As shown, the device 500 includes a control module 510 and a detection module 520.

[0063] The control module 510 is used to control the braking force of the inner front wheel to the first target inner front wheel braking force when entering a curve if it detects 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, and to control the outer front wheel to output the first target front wheel torque so that the turning radius is the first target radius.

[0064] The detection module 520 is used to detect the current environmental state if it is identified that the braking force of the inner front wheel is the first target inner front wheel braking force and the output torque of the outer front wheel is the first target front wheel torque.

[0065] The control module 510 is also configured to, if the current environmental state is characterized as a first understeer state, control the braking force of the inner rear wheel to a first target inner rear wheel braking force so that the front of the vehicle avoids the target obstacle.

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

[0067] Figure 10 The diagram illustrates the structure of an embodiment of the electronic device provided in this application, and also shows the structure of a computer system suitable for implementing the electronic device of this application. The specific embodiments of this application do not limit the specific implementation of the electronic device.

[0068] Please see Figure 10 As shown, the electronic device includes: a controller; and a memory for storing one or more programs, which, when executed by the controller, perform the aforementioned vehicle cornering control method.

[0069] Please continue reading. Figure 10 As shown, the computer system 600 of this electronic device includes a Central Processing Unit (CPU) 601, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, based on programs stored in Read-Only Memory (ROM) 602 or programs loaded from storage portion 608 into Random Access Memory (RAM) 603. The RAM 603 also stores various programs and data required for system operation. The CPU 601, ROM 602, and RAM 603 are interconnected via a bus 604. An Input / Output (I / O) interface 605 is also connected to the bus 604.

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

[0071] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 609, and / or installed from removable medium 611. When the computer program is executed by central processing unit (CPU) 601, it performs various functions defined in the system of this application.

[0072] Another aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the vehicle cornering control method described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not incorporated into the electronic device.

[0073] Another aspect of this application provides a computer program product or computer program that includes at least one executable instruction that, when executed on a vehicle cornering control device / electronic device, causes the vehicle cornering control device / electronic device to perform the vehicle cornering control method as described above.

[0074] Specifically, the executable instructions can be used to cause the vehicle's control device / electronic equipment to perform the following operations when cornering:

[0075] If the current vehicle speed is detected to be 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 braking force of the inner front wheel 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 the braking force of the inner front wheel is identified as the first target inner front wheel braking force and the torque of the outer front wheel output as the first target front wheel, then the current environmental state is detected;

[0077] If the current environmental state is characterized as a first understeering state, then the braking force of the inner rear wheel is controlled to be the 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 embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. The transmitted data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0079] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0080] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0081] According to one aspect of the embodiments of this application, a computer system is also provided, including a Central Processing Unit (CPU), which can perform various appropriate actions and processes based on a program stored in read-only memory (ROM) or a program loaded from storage into random access memory (RAM), such as performing the methods described above. Various programs and data required for system operation are also stored in the RAM. The CPU, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0082] The following components are connected to the I / O interface: input components including keyboards, mice, etc.; output components including cathode ray tubes (CRTs), liquid crystal displays (LCDs), and speakers; storage components including hard drives; and communication components including network interface cards such as LAN (Local Area Network) cards and modems. The communication components perform communication processing via networks such as the Internet. Drives are also connected to the I / O interface as needed. Removable media, such as disks, optical discs, magneto-optical discs, semiconductor memories, etc., are installed on the drive as needed so that computer programs read from them can be installed into the storage components as required.

[0083] The above description is merely a preferred exemplary embodiment of this application and is not intended to limit the implementation of this application. Those skilled in the art can easily make corresponding modifications or alterations based on the main concept and spirit of this application. Therefore, the scope of protection of this application should be determined by the scope of protection claimed in the claims.

Claims

1. A method for controlling a vehicle's cornering, characterized in that, The method includes: If the current vehicle speed is detected to be 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 braking force of the inner front wheel 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 the braking force of the inner front wheel is identified as the first target inner front wheel braking force and the torque of the outer front wheel output as the first target front wheel, then the current environmental state is detected; If the current environmental state is characterized as a first understeering state, then the braking force of the inner rear wheel is controlled to be the 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 a first vehicle speed threshold and the steering wheel angle is greater than a preset steering angle threshold, the method further includes: When entering a curve, the braking force of the inner rear wheel is controlled to be the second target inner rear wheel braking force, and the driving force of the outer rear wheel is controlled to be the 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.

3. The vehicle cornering control method according to claim 1, characterized in that, After the current vehicle's front end avoids the target obstacle, the following further includes: If it is detected that the front of the vehicle avoids the target obstacle, the current environmental state is detected; If the current environmental state is characterized as a second understeer state, then when exiting a curve, the braking force of the outer front wheel is controlled to the first target outer front wheel braking force so that the rear of the vehicle avoids the target obstacle.

4. The vehicle cornering control method according to claim 1, characterized in that, Before detecting that the current vehicle speed is less than a first vehicle speed threshold and the steering wheel angle is greater than a preset steering angle threshold, the following further includes: Determine whether the U-turn mode is enabled; If the U-turn mode is off, 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 the stationary U-turn mode is activated, the method further includes: If the in-place U-turn mode is enabled, the current environmental status is detected. If the current environmental state is characterized as a first understeer state, then the inner front wheel and the outer rear wheel are intermittently braked, and the outer front wheel is controlled to output positive torque and the inner rear wheel to output 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 control of the outer front wheel to output the first target front wheel torque further includes: When entering a curve, based on the current increase in lateral acceleration, control the outer front wheel to reduce the output torque to the first target front wheel.

7. The vehicle cornering control method according to claim 3, characterized in that, The method further includes: When exiting a curve, based on the decrease in lateral acceleration, control the outer front wheel to increase the output torque to the third target front wheel.

8. A control device for vehicle cornering, characterized in that, The device includes: The control module is used to control the braking force of the inner front wheel to the first target inner front wheel braking force when entering a curve if it detects 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, and to control the output of the first target front wheel torque of the outer front wheel so that the turning radius is the first target radius. The detection module is used to detect the current environmental state if it is identified that the braking force of the inner front wheel is the first target inner front wheel braking force and the torque of the outer front wheel is the first target front wheel output. The control module is also used to control the braking force of the inner rear wheel to the first target inner rear wheel braking force if the current environmental state is characterized as a first understeer state, so as to make the front of the vehicle avoid the 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, cause the controller to implement the vehicle cornering control method according to 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 that, when executed on a vehicle cornering control device / electronic device, causes the vehicle cornering control device / electronic device to perform the operation of the vehicle cornering control method as described in any one of claims 1 to 7.

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