Intelligent driving assistance turn system

Abstract

The application discloses an intelligent driving auxiliary turning system, comprising: a distance measuring module, comprising 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, and the second distance measuring sensor is rotatably arranged at the right side of the vehicle; a turning starting point calculation module for calculating the right turning starting point position; an acquisition module for acquiring the driving speed of the vehicle, the brake pedal opening degree of the vehicle and the front wheel turning angle of the vehicle in real time; a judgment module, comprising: a first judgment module for judging whether the driving speed of the vehicle is greater than a first preset speed; a second judgment module for judging whether the front wheel turning angle of the vehicle is greater than beta or less than gamma; and a hydraulic brake module for applying pressure to the rear wheel of the vehicle. The system can provide the driver with a suitable turning position, and can adjust the turning radius of the vehicle, thereby improving the safe driving of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automobile driving safety. More particularly, the present application relates to an intelligent driving assistance turning system. BACKGROUND

[0002] With the popularity of automobiles, the number of vehicles on the road has also increased rapidly. At the same time, people's concern about driving safety has also increased. Safety warning and guidance of safe driving behavior during driving have gradually become a research hotspot. During driving, left or right turns are often encountered. If the driver does not accurately grasp the appropriate turning time, the vehicle may not be able to safely turn left or right. 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 front road side, thereby causing a traffic accident. For example, patent 201911234848.X, a turning driving method and device, discloses judging whether the vehicle enters a curve according to the vehicle driving information. When it is determined that the vehicle enters the 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 and better avoid collisions of the vehicle during turning, thereby improving driving safety. However, in the above patent, whether the vehicle enters the curve is determined according to the vehicle driving information, but the driver cannot determine when it is the right time to enter the curve. SUMMARY

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

[0004] In order to achieve these objects and other advantages and in accordance with the purpose of the present application, an intelligent driving assistance turning system is provided, comprising:

[0005] A distance measuring module, comprising 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 front turning side, and the second distance measuring sensor is rotatably arranged at the right side of the vehicle, and the second distance measuring sensor is rotated to the right at an angle of ;

[0006] A turning start point calculation module connected with the distance measuring module, which calculates the right turning start point position by the following formula, wherein, is the distance between the turning start point position and the left side of the front turning point road, i.e. when the distance measured by the first distance measuring sensor is the vehicle starts to turn right; when the turning point detection module detects a turning point on the right side of the road, the turning start position is calculated, at this time, the distance between the turning point on the road and the second distance measuring sensor is L 2, the distance measured by the first distance measuring sensor is L 1, the right turning radius of the vehicle, the distance between the vehicle and the right side of the road, half of the width of the vehicle;

[0007] The acquisition module is used to acquire the driving speed of the vehicle, the opening degree of the brake pedal of the vehicle, and the turning angle of the front wheel of the vehicle in real time.

[0008] The judgment module is connected with the acquisition module, and the judgment module comprises: a first judgment module, which is used to judge whether the driving speed of the vehicle is greater than a first preset speed; and a second judgment module, which is used to judge whether the turning angle of the front wheel of the vehicle is greater than or less than , the turning angle of the front wheel calculated according to the minimum turning radius of the vehicle, the turning angle of the front wheel calculated according to the maximum turning radius of the vehicle;

[0009] The hydraulic brake module is connected with the turning start point calculation module, the acquisition module and the judgment module, when the vehicle drives to the turning start position, if the driving speed of the vehicle is within the first preset speed, the turning angle of the front wheel of the vehicle is greater than or less than , and the opening degree of the brake pedal is zero, the hydraulic brake module applies pressure to the rear wheel of the vehicle.

[0010] Preferably, the intelligent driving auxiliary turning system, the distance measuring module further comprises a third distance measuring sensor, which is arranged on the left side of the vehicle in a rotatable manner, the third distance measuring sensor is rotated to the left by an angle of , the turning start position to the left is calculated by the following formula, , the distance between the turning start position and the right side of the turning point on the road in front, that is, when the distance measured by the first distance measuring sensor is , the vehicle starts to turn left; when the turning point detection module detects a turning point on the left side of the road, the turning start position is calculated, at this time, the distance between the turning point on the road and the third distance measuring sensor is , the distance measured by the first distance measuring sensor is , the left turning radius of the vehicle, is the distance from the vehicle to the left side of the road.

[0011] Preferably, the intelligent driving assistance system further comprises a prompting module connected to the turning start point calculation module, which prompts the driver to drive to the turning start point.

[0012] Preferably, the intelligent driving assistance system further comprises a hydraulic braking module connected to the turning start point calculation module, which applies pressure to the rear wheels of the vehicle.

[0013] Preferably, the intelligent driving assistance system further comprises a hydraulic braking module connected to the turning start point calculation module, which applies pressure to the rear wheels of the vehicle. When turning right, if the turning angle of the front wheels of the vehicle is greater than , the hydraulic braking module applies pressure to the left rear wheel; if the turning angle of the front wheels of the vehicle is less than , the hydraulic braking module applies pressure to the right rear wheel; if the driving speed of the vehicle is greater than the first preset speed, the hydraulic braking module applies pressure to both the left and right rear wheels, and the pressure applied to the right rear wheel is greater than the pressure applied to the left rear wheel.

[0014] Preferably, the intelligent driving assistance system further comprises a hydraulic braking module connected to the turning start point calculation module, which applies pressure to the rear wheels of the vehicle. The right turning radius and the left turning radius

[0015] of the vehicle are greater than or equal to the minimum turning radius, or less than or equal to the maximum turning radius. L Preferably, the intelligent driving assistance system further comprises a turning point detection module connected to the second distance measuring sensor and the third distance measuring sensor, and the specific detection process is as follows: if the second distance measuring sensor measures a distance of L 2, or if the third distance measuring sensor measures a distance of , after a sampling time interval, the distance measured by the second distance measuring sensor is much greater than 2, or the distance measured by the third distance measuring sensor is much greater than

[0016] , it is determined that at the previous sampling time point, the distance measured by the second distance measuring sensor is the distance from the second distance measuring sensor to the right turning point of the road, or the distance measured by the third distance measuring sensor is the distance from the third distance measuring sensor to the left turning point of the road.

[0017] Preferably, the intelligent driving assistance system further comprises a U-shaped turning lane detection module, which comprises:

[0018] a third judging module connected with the angle sensor, used to judge whether the angle turned by the vehicle is greater than 90 degrees;

[0019] a determining module connected with the third judging module and the turning point detecting module, when the third judging module judges that the angle turned by the vehicle is greater than 90 degrees, and the turning point detecting module detects the turning point on the right side of the road again or the turning point detecting module detects the turning point on the left side of the road again, it is determined that the road is a U-shaped turning road.

[0020] The present application at least includes the following advantages:

[0021] Firstly, in the present application, the distance measuring module is provided with the first distance measuring sensor used to measure the distance between the vehicle and the turning side in front, and the second distance measuring sensor and the third distance measuring sensor which can be turned, the turning point detecting 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 calculating module can calculate the turning starting point position to the right or the turning starting point position to the left. The hydraulic brake module is also provided, when the vehicle travels to the turning starting point position, if the running speed of the vehicle is within the first preset speed, the turning angle of the front wheel of the vehicle is greater than or less than , and the opening degree of the brake pedal is zero, the hydraulic brake module can apply pressure to the rear wheel of the vehicle, so as to change the turning angle of the vehicle, so that the turning angle of the vehicle is within the appropriate range.

[0022] Secondly, the present application also provides the U-shaped turning road detecting module, which can determine whether the turning road is a U-shaped turning road according to the angle turned by the vehicle measured by the angle sensor and whether the turning point detecting module can detect the turning point on the right side of the road or the turning point on the left side of the road again, if it is determined to be a U-shaped turning road, the driver can make preparations in advance, so as to improve the safety of driving.

[0023] Other advantages, objects, and features of the present application will be apparent to those skilled in the art from the following description, and part will be understood by those skilled in the art through research and practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0024] Fig. 1 It is a schematic diagram of the relationship structure of the intelligent driving auxiliary turning system in the embodiment of the present application;

[0025] Fig. 2 It is a schematic diagram of the structure when the vehicle turns to the right in the embodiment of the present application. DETAILED DESCRIPTION

[0026] The application will be described in further detail below with reference to the drawings, so that those skilled in the art can implement the application according to the description and the drawings.

[0027] It should be understood that the terms such as "have", "contain" and "include" used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0028] It should be noted that the experimental methods described in the following embodiments are all conventional methods unless otherwise specified, and the reagents and materials can be obtained from commercial channels unless otherwise specified. In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mount", "connect", "arrange" should be understood broadly, for example, can be fixedly connected, arranged, or can be detachably connected, arranged, or integrally connected, arranged. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. The orientations or positional relationships indicated by the terms "transverse", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0029] As shown in Figs. 1-2 , the intelligent driving auxiliary turning system provided by the embodiment of the present application comprises: a distance measuring module comprising 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 front turning side, 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 to the right side of the vehicle is ; a turning start point calculation module connected with the distance measuring module, the turning start point position to the right is calculated by the following formula, , wherein, is the distance between the turning start point position and the left side of the road in front of the turning point, that is, when the distance measured by the first distance measuring sensor is , the vehicle starts to turn to the right; when the turning point detection module detects the turning point on the right side of the road, the turning start point position is calculated, at this time, the distance between the turning point of the road and the second distance measuring 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 obtaining module, configured to obtain the driving speed of the vehicle, the opening degree of the brake pedal of the vehicle, and the turning angle of the front wheel of the vehicle in real time; a judging module connected with the obtaining module, the judging module comprising: a first judging module configured to judge whether the driving speed of the vehicle is greater than a first preset speed; a second judging module configured to judge whether the turning angle of the front wheel of the vehicle is greater than or less than , , wherein the turning angle of the front wheel is calculated according to the minimum turning radius of the vehicle, the turning angle of the front wheel is calculated according to the maximum turning radius of the vehicle; a hydraulic braking module connected with the turning starting point calculation module, the obtaining module and the judging module, when the vehicle drives to the turning starting point position, if the driving speed of the vehicle is within the first preset speed, the turning angle of the front wheel of the vehicle is greater than or less than , and the opening degree of the brake pedal is zero, the hydraulic braking module applies pressure to the rear wheel of the vehicle. The distance measuring module further comprises a third distance measuring sensor rotatably arranged on the left side of the vehicle, the third distance measuring sensor is rotated leftward by an angle of from the longitudinal axis of the vehicle, the left turning starting point position is calculated by the following formula, , , wherein the distance is the distance between the turning starting point position and the right side of the road at the front turning point, i.e. when the distance measured by the first distance measuring sensor is , the turning starting point position is calculated when the turning point detection module detects the turning point on the left side of the road, at this time, the distance between the turning point of the road and the third distance measuring sensor is , and the distance measured by the first distance measuring sensor is , , wherein the left turning radius of the vehicle is , and the distance between the vehicle and the left side of the road is. The right turning radius of the vehicle and the left turning radius of the vehicle are greater than or equal to the minimum turning radius, or less than or equal to the maximum turning radius.

[0030] In the above embodiment, the first distance measuring sensor, the second distance measuring sensor and the third distance measuring sensor can be infrared distance measuring sensors, or other types of distance measuring sensors. The second distance measuring sensor is rotated rightward by an angle of from the longitudinal axis of the vehicle, and the value of the rotation angle may be adjusted according to actual conditions, when the distance between the vehicle and the right side of the road is relatively close, the value of the distance between the vehicle and the right side of the road can be adjusted to be smaller when the vehicle is far away from the right side of the road, the value of the distance between the vehicle and the right side of the road can be adjusted to be larger, the value of the distance between the vehicle and the right side of the road can be adjusted to be larger, , the value of the distance between the vehicle and the right side of the road can be adjusted to be larger, , L the length of the vehicle, the turning angle of the front wheel, the turning angle of the front wheel calculated according to the minimum turning radius of the vehicle, the turning angle of the front wheel calculated according to the maximum turning radius of the vehicle. It should be noted that the turning angle of the front wheel involved in the embodiment is the turning angle of the front wheel, and the driver should also calculate the turning angle of the steering wheel according to the turning angle. Since different vehicles have different relationships between the turning angle of the front wheel and the turning angle of the steering wheel.

[0031] In the above embodiment, the distance measuring module is provided with the first distance measuring sensor for measuring the distance between the vehicle and the turning side in front. Since the turning side in front of the vehicle may be perpendicular to the road on which the vehicle is driving or may be arc-shaped at the turning of the road, the first distance measuring sensor can detect the distance between the vehicle and the turning side in front. The second distance measuring sensor and the third distance measuring sensor are also provided, and the second distance measuring sensor and the third distance measuring sensor measure the track as 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 as to enable the turning start point calculation module to calculate the right turning start point position or the left turning start point position. The hydraulic brake module is also provided, and when the vehicle drives to the turning start point position, if the driving speed of the vehicle is within the first preset speed, the turning angle of the front wheel of the vehicle is greater than or less than When the opening degree of the brake pedal is zero, the hydraulic brake module can apply pressure to the rear wheels of the vehicle, so as to change the turning angle of the vehicle, and make the turning angle of the vehicle in a proper range.

[0032] In one embodiment, the system further comprises a prompting module connected to the turning starting point calculation module, which prompts the driver to drive to the turning starting point.

[0033] In the above embodiment, the prompting module can remind the driver that the vehicle has driven to the turning starting point, and the vehicle needs to turn, so that the driver will not miss the proper time for turning.

[0034] In one 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.

[0035] 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, so as to change the turning radius of the vehicle or change the driving speed of the vehicle.

[0036] In one 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 wheels of the vehicle is less than , the hydraulic brake module applies pressure to the right rear wheel; if the driving speed of the vehicle is greater than a first preset speed, the hydraulic brake module applies pressure to 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.

[0037] In the above embodiment, 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, so as to make the turning radius of the vehicle smaller; if the turning angle of the front wheels of the vehicle is less than , the hydraulic brake module applies pressure to the right rear wheel, so as to make the turning radius of the vehicle larger, and by adjusting the turning radius of the vehicle, the turning radius of the vehicle is in a specified range. If the driving speed of the vehicle is greater than a first preset speed, the hydraulic brake module applies pressure to 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, so as to adjust the driving speed of the vehicle without affecting the turning of the vehicle. If the vehicle turns left, if the turning angle of the front wheels of the vehicle is greater than , the hydraulic brake module applies pressure to the right rear wheel; if the turning angle of the front wheels of the vehicle is less than Then the hydraulic braking module applies pressure to the left rear wheel.

[0038] In one specific embodiment, the turning point detection module is connected to the second ranging sensor and the third ranging sensor. The specific detection process is as follows: if the distance measured by the second ranging sensor is... L 2, or if the distance measured by the third ranging sensor is At that time, after a sampling time interval, the distance measured by the second ranging sensor is much greater than L 2, or the distance measured by the third ranging sensor is much greater than... This indicates that at the previous sampling time point, the distance detected by the second ranging sensor was the distance from the second ranging sensor to the right-hand turning point of the road, or the distance detected by the third ranging sensor was the distance from the third ranging sensor to the left-hand turning point of the road.

[0039] In the above embodiment, since after one ranging sensor sampling time interval, if the distance measured by the second ranging sensor is much greater than... L 2, or the distance measured by the third ranging 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 been deviated from the turning point and has been emitted to the opposite side of the turning point. Therefore, it is determined that at the previous sampling time point, the infrared trajectory emitted by the second ranging sensor was emitted to the location of the turning point. The previous measured distance is determined to be the distance between the second ranging sensor and the road turning point. The same applies to the third ranging sensor.

[0040] In one specific embodiment, a U-shaped turn detection module is also included, which includes:

[0041] An angle sensor, which is installed on the vehicle, is used to detect the vehicle's steering angle after it enters a turn;

[0042] The third judgment module is connected to the angle sensor and is used to determine whether the angle turned by the vehicle is greater than 90 degrees.

[0043] The determination module is connected to the third judgment module and the turning point detection module. When the third judgment module determines that the angle turned by the vehicle is greater than 90 degrees, and the turning point detection module detects a turning point on the right side of the road or the turning point detection module detects a turning point on the left side of the road again, the road is determined to be a U-shaped turn.

[0044] In the above-mentioned embodiments, the U-shaped turning road detection module is arranged, which can further improve the safety of turning. When the determination module determines that the road is a U-shaped turning road, the turning starting point calculation module calculates the turning starting point position through a calculation formula, so that the driver can make preparations in advance for turning.

[0045] The number of devices and the scale of processing illustrated herein are intended to be illustrative of aspects of the present application. Applications, modifications and variations of the present application, as well as other implementations of the present application, will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein.

[0046] While embodiments of the application have been disclosed in connection with the above description and the accompanying drawings, it will be apparent to those skilled in the art that numerous modifications and variations can be made without departing from the general scope of the application. Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. For example, the application can be applied to various fields of technology where it is desirable to provide a method and system for providing a user with a graphical representation of a location. It is intended that the specification and examples be considered as exemplary only, with a true scope of the application being indicated by the following claims.

Claims

1. An intelligent driving assistance turning system, characterized in that, include: The distance measurement module includes a first distance sensor and a second distance sensor. The first distance sensor is fixedly positioned in the center of the vehicle to measure the distance from the side of the vehicle turning directly ahead. The second distance sensor is rotatably mounted on the right side of the vehicle, and the angle by which the second distance sensor is rotated to the right off the longitudinal axis of the vehicle is [missing information]. ; The turning point calculation module, which is connected to the distance measurement module, calculates the starting position of the rightward turn using the following formula. ,in, This refers to the distance from the starting point of the turn to the left side of the road at the upcoming turning point, i.e., when the distance measured by the first ranging sensor is... At that time, the vehicle begins to turn right; when the turning point detection module detects the turning point on the right side of the road, it begins to calculate the starting position of the turn. At this time, the distance between the turning point and the second ranging sensor is... L 2. The distance measured by the first ranging sensor is L 1, This is the vehicle's right-turn radius. The distance of the vehicle from the right side of the road. It is half the width of the vehicle; The acquisition module 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, connected to the acquisition module, includes: a first judgment module for judging whether the vehicle's speed is greater than a first preset speed; and a second judgment module for judging whether the vehicle's front wheel turning angle is greater than... or less , The front wheel turning angle is calculated based on the vehicle's minimum turning radius. The front wheel turning angle is calculated based on the vehicle's maximum turning radius; A hydraulic braking module, connected to the steering start point calculation module, the acquisition module, and the judgment module, determines whether, after the vehicle reaches the steering start point position, if the vehicle's speed is within a first preset speed and the front wheel turning angle is greater than a certain value... or less When the brake pedal is open to zero, the hydraulic braking module applies pressure to the rear wheels of the vehicle.

2. The intelligent driving assistance turning system as described in claim 1, characterized in that, The distance measurement module also includes a third distance sensor, which is rotatably mounted on the left side of the vehicle. The third distance sensor is rotated to the left, offset from the longitudinal axis of the vehicle, by an angle of [missing information]. The starting position for turning left is calculated using the following formula: , This refers to the distance from the starting point of the turn to the right side of the road at the upcoming turning point, i.e., when the distance measured by the first ranging sensor is... At that time, the vehicle begins to turn left; when the turning point detection module detects the turning point on the left side of the road, it begins to calculate the starting position of the turn. At this time, the distance between the turning point and the third ranging sensor is... The distance measured by the first ranging sensor is , This is the vehicle's left-turn radius. The distance between the vehicle and the left side of the road.

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

4. The intelligent driving assistance turning system as described in claim 1, characterized in that, The hydraulic braking module applies pressure to the rear wheels of the vehicle in three tiers, from highest to lowest: a first applied pressure, a second applied pressure, and a third applied pressure.

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

6. The intelligent driving assistance turning system as described in claim 2, characterized in that, The vehicle's right-turn radius and left turn radius All 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 described in claim 2, characterized in that, The turning point detection module is connected to the second ranging sensor and the third ranging sensor. The specific detection process is as follows: if the distance measured by the second ranging sensor is... L 2, or if the distance measured by the third ranging sensor is At that time, after a sampling time interval, the distance measured by the second ranging sensor is much greater than L 2, or the distance measured by the third ranging sensor is much greater than... This indicates that at the previous sampling time point, the distance detected by the second ranging sensor was the distance from the second ranging sensor to the right-hand turning point of the road, or the distance detected by the third ranging sensor was the distance from the third ranging sensor to the left-hand turning point of the road.

8. The intelligent driving assistance turning system as described in claim 7, characterized in that, It also includes a U-turn lane detection module, which comprises: An angle sensor, which is installed on the vehicle, is used to detect the vehicle's steering angle after it enters a turn; The third judgment module is connected to the angle sensor and is used to determine whether the angle turned by the vehicle is greater than 90 degrees. The determination module is connected to the third judgment module and the turning point detection module. When the third judgment module determines that the angle turned by the vehicle is greater than 90 degrees, and the turning point detection module detects a turning point on the right side of the road or the turning point detection module detects a turning point on the left side of the road again, the road is determined to be a U-shaped turn.

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