Intelligent driving auxiliary turning system

Abstract

The invention discloses an intelligent driving auxiliary turning system, which comprises a distance measuring module, which comprises a first distance measuring sensor and a second distance measuring sensor, the first distance measuring sensor is fixedly arranged at the middle position of a vehicle, and the second distance measuring sensor is rotatably arranged on the right side of the vehicle; the steering starting point calculation module is used for calculating a rightward steering starting point position; the obtaining module is used for obtaining the running speed of the vehicle, the brake pedal opening degree of the vehicle and the front wheel turning angle of the vehicle in real time; the judgment module comprises a first judgment module used for judging whether the running speed of the vehicle is greater than a first preset speed or not; the second judgment module is used for judging whether the front wheel turning angle of the vehicle is larger than beta or smaller than gamma; and the hydraulic braking module is used for applying pressure to rear wheels of the vehicle. The system can provide a proper turning position for a driver, and the turning radius of the vehicle can be adjusted, so that the safe driving of the vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the field of automobile driving safety, and more specifically, to an intelligent driving assistance turning system. Background Art

[0002] With the popularization of automobiles, the number of cars on the road has also increased rapidly. At the same time, people's attention to driving safety is also increasing. Safety warnings during driving and guidance on safe driving behavior have gradually become a hot topic of research. During driving, left or right turns are often encountered. If the driver does not accurately grasp the appropriate turning time, the vehicle will not be able to turn left or right safely. If the driver turns too early, the vehicle may collide with the side turning point. If the driver turns too late, the vehicle may collide with the side of the road ahead, causing a traffic accident. For example, patent 201911234848.X discloses a turning driving method and device, which discloses judging whether the vehicle enters a curve based on the vehicle driving information. When it is determined that the vehicle enters a curve, the real-time driving angle of the vehicle is automatically prompted or automatically adjusted according to the safe driving angle range of the curve, which can ensure the safe driving of the vehicle, better avoid collisions during the turning process, and improve driving safety. However, in the above patent, it is judged whether the vehicle enters a curve based on the vehicle driving information, but it does not allow the driver to judge when it is time to enter the curve. Summary of the invention

[0003] The present invention provides an intelligent driving assistance turning system, which can provide a driver with a suitable turning position and can adjust the turning radius of a vehicle, thereby improving the safe driving of the vehicle.

[0004] In order to achieve these objectives and other advantages of the present invention, an intelligent driving assistance turning system is provided, comprising: The distance measurement module comprises a first distance measuring sensor and a second distance measuring sensor, wherein the first distance measuring sensor is fixedly arranged at the middle position of the vehicle to measure the distance between the vehicle and the side of the turning direction directly in front, and the second distance measuring sensor is rotatably arranged at the right side of the vehicle, and the angle of the second distance measuring sensor rotating rightward from the longitudinal axis of the vehicle is ; The turning starting point calculation module is connected to the distance measurement module and calculates the right turning starting point position by the following formula: ,in, is the distance from the turning starting point to the left side of the road at the turning point ahead, that is, when the distance measured by the first distance measuring sensor is When the turning point detection module detects the turning point on the right side of the road, it starts to calculate the turning starting point. At this time, the distance between the turning point of the road and the second ranging sensor is L 2. The distance measured by the first distance measuring sensor is L 1, is the right turning radius of the vehicle, is the distance between the vehicle and the right side of the road, is half the width of the vehicle; An acquisition module, which is used to acquire the driving speed of the vehicle, the brake pedal opening of the vehicle, and the front wheel turning angle of the vehicle in real time; A judgment module is connected to the acquisition module, and the judgment module includes: a first judgment module, which is used to judge whether the vehicle's driving speed is greater than a first preset speed; a second judgment module, which is used to judge whether the vehicle's front wheel turning angle is greater than , or less than , is the front wheel turning angle calculated based on the vehicle’s minimum turning radius, is the front wheel turning angle calculated based on the vehicle’s maximum turning radius; A hydraulic brake module is connected to the turning starting point calculation module, the acquisition module and the judgment module. When the vehicle reaches the turning starting point, if the vehicle's driving speed is within a first preset speed and the front wheel turning angle of the vehicle is greater than or less than When the opening of the brake pedal is zero, the hydraulic brake module applies pressure to the rear wheels of the vehicle.

[0005] Preferably, in the intelligent driving assistance turning system, the distance measurement module further includes a third distance measuring sensor, which is rotatably arranged on the left side of the vehicle, and the angle of the third distance measuring sensor rotating leftward from the longitudinal axis of the vehicle is , the starting point of the left turn is calculated by the following formula, , is the distance from the turning starting point to the right side of the road at the turning point ahead, that is, when the distance measured by the first distance measuring sensor is When the turning point detection module detects the turning point on the left side of the road, it starts to calculate the turning starting point. At this time, the distance between the turning point of the road and the third distance measuring sensor is , the distance measured by the first distance measuring sensor is , is the left turning radius of the vehicle, is the distance between the vehicle and the left side of the road.

[0006] Preferably, the intelligent driving assistance turning system further includes a prompt module, which is connected to the turning starting point calculation module to prompt the driver to drive to the turning starting point position.

[0007] Preferably, in the intelligent driving assistance turning system, the pressure applied by the hydraulic brake module to the rear wheels of the vehicle is divided into a first applied pressure, a second applied pressure and a third applied pressure from large to small.

[0008] Preferably, in the intelligent driving assistance turning system, the hydraulic brake module applies pressure to the rear wheels of the vehicle, specifically: when turning right, if the turning angle of the front wheels of the vehicle is greater than , the hydraulic brake module applies pressure to the left rear wheel; if the turning angle of the front wheel of the vehicle is less than , the hydraulic brake module applies pressure to the right rear wheel; if the vehicle's driving speed is greater than the first preset speed, the hydraulic brake module applies pressure to both the left and right rear wheels at the same time, and the pressure applied to the right rear wheel is greater than the pressure applied to the left rear wheel.

[0009] Preferably, in the intelligent driving assistance turning system, the right turning radius of the vehicle is and left turning radius Both are greater than or equal to the minimum turning radius, or less than or equal to the maximum turning radius.

[0010] Preferably, in the intelligent driving assistance turning system, the turning point detection module is connected to the second ranging sensor and the third ranging sensor, and the specific detection process is: if the second ranging sensor measures a distance of L 2, or if the distance measured by the third distance measuring sensor is When a sampling time interval passes, the distance measured by the second distance measuring sensor is much greater than L 2, or the distance measured by the third distance measuring sensor is much greater than , it means that at the previous sampling time point, the distance detected by the second ranging sensor is the distance from the second ranging sensor to the turning point on the right side of the road, or the distance detected by the third ranging sensor is the distance from the third ranging sensor to the turning point on the left side of the road.

[0011] Preferably, the intelligent driving assistance turning system further includes a U-turn detection module, which includes: An angle sensor, which is arranged on the vehicle and is used to detect the steering angle of the vehicle after the vehicle enters a turn; a third judgment module, connected to the angle sensor, for judging whether the angle turned by the vehicle is greater than 90 degrees; A determination module is connected to the third judgment module and the turning point detection module. When the third judgment module determines that the vehicle has turned at an angle greater than 90 degrees, and the turning point detection module once again detects a turning point on the right side of the road or the turning point detection module once again detects a turning point on the left side of the road, it is determined that the road is a U-turn.

[0012] The present invention has at least the following beneficial effects: First, in the present invention, the distance measurement module is provided with a first distance sensor for measuring the distance between the vehicle and the turning side directly in front, and a second distance sensor and a third distance sensor that can be turned. The turning point detection module can detect the turning point on the right side of the road or the turning point on the left side of the road according to the distance measured by the second distance sensor or the third distance sensor, so that the turning starting point calculation module can calculate the right turning starting point position or the left turning starting point position. A hydraulic brake module is also provided. When the vehicle travels to the turning starting point position, if the vehicle's driving speed is within the first preset speed and the vehicle's front wheel turning angle is greater than or less than When the opening of the brake pedal is zero, the hydraulic brake module can apply pressure to the rear wheels of the vehicle, thereby changing the turning angle of the vehicle so that the turning angle of the vehicle is within an appropriate range.

[0013] Second, the present invention also provides a U-turn detection module, which can determine whether the turning point of the road is a U-turn according to the angle of the vehicle turned measured by the angle sensor and whether the turning point detection module can once again detect the turning point on the right side of the road or the turning point on the left side of the road. If it is determined to be a U-turn, the driver can prepare for the turn in advance, thereby improving driving safety.

[0014] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of the relationship structure of an intelligent driving assistance turning system in an embodiment of the present invention; Figure 2 It is a schematic diagram of the structure when the vehicle turns right in an embodiment of the present invention. DETAILED DESCRIPTION

[0016] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0017] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[0018] It should be noted that the experimental methods described in the following embodiments are conventional methods unless otherwise specified, and the reagents and materials can be obtained from commercial sources unless otherwise specified; in the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "set" should be understood in a broad sense, for example, they can be fixedly connected, set, or detachably connected, set, or connected and set in one piece. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood in specific circumstances. The orientation or position relationship indicated by the terms "lateral", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0019] like Figure 1~Figure 2 As shown, an embodiment of the present invention provides an intelligent driving assistance turning system, including: a distance measurement module, which includes a first distance measuring sensor and a second distance measuring sensor, the first distance measuring sensor is fixedly arranged at the middle position of the vehicle to measure the distance between the vehicle and the turning side directly in front, the second distance measuring sensor is rotatably arranged on the right side of the vehicle, and the angle of the second distance measuring sensor rotating rightward from the longitudinal axis of the vehicle is ; A turning starting point calculation module, which is connected to the distance measurement module, calculates the right turning starting point position by the following formula, ,in, is the distance from the turning starting point to the left side of the road at the turning point ahead, that is, when the distance measured by the first distance measuring sensor is When the turning point detection module detects the turning point on the right side of the road, it starts to calculate the turning starting point. At this time, the distance between the turning point of the road and the second ranging sensor is L 2. The distance measured by the first distance measuring sensor is L 1, is the right turning radius of the vehicle, is the distance between the vehicle and the right side of the road, is half of the width of the vehicle; an acquisition module, which is used to acquire the vehicle's driving speed, the vehicle's brake pedal opening, and the vehicle's front wheel turning angle in real time; a judgment module, which is connected to the acquisition module, and the judgment module includes: a first judgment module, which is used to judge whether the vehicle's driving speed is greater than a first preset speed; a second judgment module, which is used to judge whether the vehicle's front wheel turning angle is greater than , or less than , is the front wheel turning angle calculated based on the vehicle’s minimum turning radius, is a front wheel turning angle calculated according to the maximum turning radius of the vehicle; a hydraulic braking module, which is connected to the turning starting point calculation module, the acquisition module and the judgment module. When the vehicle travels to the turning starting point position, if the vehicle's driving speed is within a first preset speed, the front wheel turning angle of the vehicle is greater than or less than When the opening of the brake pedal is zero, the hydraulic brake module applies pressure to the rear wheels of the vehicle. The distance measurement module also includes a third distance sensor, which is rotatably arranged on the left side of the vehicle. The third distance sensor deviates from the longitudinal axis of the vehicle and rotates leftward by an angle of , the starting point of the left turn is calculated by the following formula, , is the distance from the turning starting point to the right side of the road at the turning point ahead, that is, when the distance measured by the first distance measuring sensor is When the turning point detection module detects the turning point on the left side of the road, it starts to calculate the turning starting point. At this time, the distance between the turning point of the road and the third distance measuring sensor is , the distance measured by the first distance measuring sensor is , is the left turning radius of the vehicle, is the distance between the vehicle and the left side of the road. and left turning radius Both are greater than or equal to the minimum turning radius, or less than or equal to the maximum turning radius.

[0020] In the above embodiment, the first distance measuring sensor, the second distance measuring sensor and the third distance measuring sensor may be infrared distance measuring sensors or other types of distance measuring sensors. The angle at which the second distance measuring sensor deviates from the longitudinal axis of the vehicle and rotates to the right is , rotation angle The value of can be adjusted according to the actual situation. When the distance between the vehicle and the right side of the road is relatively close, The value of can be adjusted to be smaller. When the vehicle is far away from the right side of the road, The value can be adjusted to be larger. The value range of is 10-30 degrees, so that the turning point detection module can detect the turning point before the vehicle reaches the turning starting point, and calculate the turning starting point as the most suitable. The angle of the third distance measuring sensor deviating from the longitudinal axis of the vehicle to the left is , The value range of is 20~70 degrees, which will not be repeated here. The second ranging sensor is rotatably arranged on the right side of the vehicle, and the third ranging sensor is rotatably arranged on the left side of the vehicle. The specific rotation setting method is not specifically limited in the embodiment of the present invention, and it can be achieved by using the existing technology. For example, the second ranging sensor and the third sensor are both arranged on a rotating disk, and the rotating disk is fixedly arranged on the right and left sides of the vehicle, and the rotation angle of the rotating disk is limited. Specifically, the relationship between the turning radius and the turning angle of the vehicle is related to the parameters of the vehicle itself. , L For the car commander, is the front wheel turning angle, is the front wheel turning angle calculated based on the vehicle’s minimum turning radius, The front wheel turning angle is calculated based on the maximum turning radius of the vehicle. It should also be noted that the front wheel turning angle is involved in this embodiment. For the driver, the steering wheel rotation angle should also be calculated based on the turning angle. Due to different vehicles, the corresponding relationship between the front wheel turning angle and the steering wheel rotation angle is different.

[0021] In the above embodiment, the distance measurement module is provided with a first distance measuring sensor for measuring the distance between the vehicle and the turning side directly in front. Since at the turning point of the road, the turning side directly in front of the vehicle may be set perpendicular to the road on which the vehicle is traveling, and the turning side directly in front of the vehicle may also be set in an arc shape, no matter it is set vertically or in an arc shape, the first distance measuring sensor can detect the distance between the vehicle and the turning side directly in front. A second distance measuring sensor and a third distance measuring sensor that can be turned are also provided. The route trajectory measured by the second distance measuring sensor and the third distance measuring sensor is an inclined line relative to the longitudinal axis of the vehicle. Therefore, the turning point detection module can detect the turning point on the right side of the road or the turning point on the left side of the road according to the distance measured by the second distance measuring sensor or the third distance measuring sensor, so that the turning starting point calculation module can calculate the turning starting point position to the right or the turning starting point position to the left. A hydraulic brake module is also provided. When the vehicle travels to the turning starting point position, if the vehicle's driving speed is within the first preset speed and the vehicle's front wheel turning angle is greater than or less than When the opening of the brake pedal is zero, the hydraulic brake module can apply pressure to the rear wheels of the vehicle, thereby changing the turning angle of the vehicle so that the turning angle of the vehicle is within an appropriate range.

[0022] In one specific embodiment, a prompt module is further included, which is connected to the turning starting point calculation module to prompt the driver to drive to the turning starting point.

[0023] In the above embodiment, the prompt module can remind the driver that the vehicle has reached the turning starting position and needs to turn, so that the driver will not miss the right time to turn.

[0024] In one specific embodiment, the pressure applied by the hydraulic brake module to the rear wheels of the vehicle is divided into a first applied pressure, a second applied pressure and a third applied pressure from large to small.

[0025] In the above embodiment, the applied pressure is set to multiple levels, so that the hydraulic brake module can apply different pressures to the rear wheels of the vehicle, thereby changing the turning radius of the vehicle or changing the speed of the vehicle.

[0026] In one specific embodiment, the hydraulic brake module applies pressure to the rear wheels of the vehicle, specifically: when turning right, if the turning angle of the front wheels of the vehicle is greater than , the hydraulic brake module applies pressure to the left rear wheel; if the turning angle of the front wheel of the vehicle is less than , the hydraulic brake module applies pressure to the right rear wheel; if the vehicle's driving speed is greater than the first preset speed, the hydraulic brake module applies pressure to both the left and right rear wheels at the same time, and the pressure applied to the right rear wheel is greater than the pressure applied to the left rear wheel.

[0027] In the above embodiment, if the front wheel turning angle of the vehicle is greater than , the hydraulic brake module applies pressure to the left rear wheel, thereby reducing the turning radius of the vehicle. If the turning angle of the front wheel of the vehicle is less than , the hydraulic brake module applies pressure to the right rear wheel, thereby increasing the turning radius of the vehicle. By adjusting the turning radius of the vehicle, the turning radius of the vehicle is within the specified range. If the vehicle's driving speed is greater than the first preset speed, the hydraulic brake module applies pressure to both the left and right rear wheels at the same time, and the pressure applied to the right rear wheel is greater than the pressure applied to the left rear wheel. This can adjust the vehicle's driving speed without affecting the vehicle's turning. If the vehicle turns left, if the front wheel turning angle of the vehicle is greater than , the hydraulic brake module applies pressure to the right rear wheel; if the turning angle of the front wheel of the vehicle is less than , the hydraulic brake module applies pressure to the left rear wheel.

[0028] In one specific implementation, the turning point detection module is connected to the second distance measuring sensor and the third distance measuring sensor. The specific detection process is: if the second distance measuring sensor measures a distance of L 2, or if the distance measured by the third distance measuring sensor is When a sampling time interval passes, the distance measured by the second distance measuring sensor is much greater than L 2, or the distance measured by the third distance measuring sensor is much greater than , it means that at the previous sampling time point, the distance detected by the second ranging sensor is the distance from the second ranging sensor to the turning point on the right side of the road, or the distance detected by the third ranging sensor is the distance from the third ranging sensor to the turning point on the left side of the road.

[0029] In the above implementation, after a distance sensor sampling time interval, if the distance measured by the second distance sensor is much greater than L 2, or the distance measured by the third distance measuring sensor is much greater than The distance measured by the second ranging sensor is the distance between the second ranging sensor and the side opposite to the turning point. The infrared trajectory emitted by the second ranging sensor has deviated from the turning point and is emitted to the opposite side of the turning point. It is determined that at the last sampling time point, the infrared ray emitted by the second ranging sensor reaches the turning point position, and the last measured distance is determined to be the distance between the second ranging sensor and the turning point of the road. The same is true for the third ranging sensor.

[0030] In one specific embodiment, a U-turn detection module is also included, which includes: An angle sensor, which is arranged on the vehicle and is used to detect the steering angle of the vehicle after the vehicle enters a turn; a third judgment module, connected to the angle sensor, for judging whether the angle turned by the vehicle is greater than 90 degrees; A determination module is connected to the third judgment module and the turning point detection module. When the third judgment module determines that the vehicle has turned at an angle greater than 90 degrees, and the turning point detection module once again detects a turning point on the right side of the road or the turning point detection module once again detects a turning point on the left side of the road, it is determined that the road is a U-turn.

[0031] In the above embodiment, the U-turn detection module can further improve the safety of turning. When the determination module determines that the road is a U-turn, the turning starting point calculation module calculates the turning starting point position through a calculation formula, so that the driver can prepare for the turn in advance.

[0032] The number of devices and processing scales described here are used to simplify the description of the present invention. Applications, modifications and variations of the present invention will be obvious to those skilled in the art.

[0033] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. Intelligent driving assistance turning system, characterized by: include: The distance measurement module includes a first distance measuring sensor and a second distance measuring sensor, wherein the first distance measuring sensor is fixedly arranged at the middle position of the vehicle to measure the distance between the vehicle and the side of the turning direction directly in front, and the second distance measuring sensor is rotatably arranged at the right side of the vehicle, and the angle of the second distance measuring sensor rotating rightward from the longitudinal axis of the vehicle is ; The turning starting point calculation module is connected to the distance measurement module and calculates the right turning starting point position by the following formula: ,in, is the distance from the turning starting point to the left side of the road at the turning point ahead, that is, when the distance measured by the first distance measuring sensor is When the turning point detection module detects the turning point on the right side of the road, it starts to calculate the turning starting point. At this time, the distance between the turning point of the road and the second ranging sensor is L 2. The distance measured by the first distance measuring sensor is L 1, is the right turning radius of the vehicle, is the distance between the vehicle and the right side of the road, is half the width of the vehicle; An acquisition module, which is used to acquire the driving speed of the vehicle, the brake pedal opening of the vehicle, and the front wheel turning angle of the vehicle in real time; A judgment module is connected to the acquisition module, and the judgment module includes: a first judgment module, which is used to judge whether the vehicle's driving speed is greater than a first preset speed; a second judgment module, which is used to judge whether the vehicle's front wheel turning angle is greater than , or less than , is the front wheel turning angle calculated based on the vehicle’s minimum turning radius, is the front wheel turning angle calculated based on the vehicle’s maximum turning radius; A hydraulic brake module is connected to the turning starting point calculation module, the acquisition module and the judgment module. When the vehicle reaches the turning starting point, if the vehicle's driving speed is within a first preset speed and the front wheel turning angle of the vehicle is greater than or less than When the opening of the brake pedal is zero, the hydraulic brake module applies pressure to the rear wheels of the vehicle.

2. The intelligent driving assistance turning system according to claim 1, characterized in that: The distance measurement module further includes a third distance measuring sensor, which is rotatably arranged on the left side of the vehicle, and the third distance measuring sensor deviates from the longitudinal axis of the vehicle and rotates leftward by an angle of , the starting point of the left turn is calculated by the following formula, , is the distance from the turning starting point to the right side of the road at the turning point ahead, that is, when the distance measured by the first distance measuring sensor is When the turning point detection module detects the turning point on the left side of the road, it starts to calculate the turning starting point. At this time, the distance between the turning point of the road and the third distance measuring sensor is , the distance measured by the first distance measuring sensor is , is the left turning radius of the vehicle, is the distance between the vehicle and the left side of the road.

3. The intelligent driving assistance turning system according to claim 1, characterized in that: It also includes a prompt module, which is connected to the turning starting point calculation module to prompt the driver to drive to the turning starting point position.

4. The intelligent driving assistance turning system according to claim 1, characterized in that: The pressure applied by the hydraulic brake module to the rear wheels of the vehicle is divided into a first applied pressure, a second applied pressure, and a third applied pressure in descending order.

5. The intelligent driving assistance turning system as claimed in claim 4, characterized in that: The hydraulic brake module applies pressure to the rear wheels of the vehicle, specifically: when turning right, if the turning angle of the front wheels of the vehicle is greater than , the hydraulic brake module applies pressure to the left rear wheel; if the turning angle of the front wheel of the vehicle is less than , the hydraulic brake module applies pressure to the right rear wheel; if the vehicle's driving speed is greater than the first preset speed, the hydraulic brake module applies pressure to both the left and right rear wheels at the same time, and the pressure applied to the right rear wheel is greater than the pressure applied to the left rear wheel.

6. The intelligent driving assistance turning system as claimed in claim 2, characterized in that: The right turning radius of the vehicle and left turning radius Both are greater than or equal to the minimum turning radius, or less than or equal to the maximum turning radius.

7. The intelligent driving assistance turning system as claimed in claim 2, characterized in that: The turning point detection module is connected to the second distance measuring sensor and the third distance measuring sensor. The specific detection process is: if the second distance measuring sensor measures a distance of L 2, or if the distance measured by the third distance measuring sensor is When a sampling time interval passes, the distance measured by the second distance measuring sensor is much greater than L 2, or the distance measured by the third distance measuring sensor is much greater than , it means that at the previous sampling time point, the distance detected by the second ranging sensor is the distance from the second ranging sensor to the turning point on the right side of the road, or the distance detected by the third ranging sensor is the distance from the third ranging sensor to the turning point on the left side of the road.

8. The intelligent driving assistance turning system as claimed in claim 7, characterized in that: Also included is a U-turn detection module, which includes: An angle sensor, which is arranged on the vehicle and is used to detect the steering angle of the vehicle after the vehicle enters a turn; a third judgment module, connected to the angle sensor, for judging whether the angle turned by the vehicle is greater than 90 degrees; A determination module is connected to the third judgment module and the turning point detection module. When the third judgment module determines that the vehicle has turned at an angle greater than 90 degrees, and the turning point detection module once again detects a turning point on the right side of the road or the turning point detection module once again detects a turning point on the left side of the road, it is determined that the road is a U-turn.

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