Vehicle turning-around control method and intelligent driving controller

Abstract

The invention provides a vehicle turning-around control method and an intelligent driving controller, and the method comprises the steps: obtaining a vehicle barrier distance which is the distance between a vehicle body and a barrier; based on the vehicle obstacle distance and the vehicle turning-around related parameters, a vehicle turning-around mode is determined, and the vehicle turning-around mode comprises one of a front wheel steering turning-around mode, a three-wheel steering turning-around mode, a four-wheel steering turning-around mode, an in-situ steering turning-around mode and a non-turning-around mode; and executing a corresponding turning-around action based on the vehicle turning-around mode. According to the technical scheme, the feasibility and safety of turning around of the vehicle are improved, and meanwhile the service life of the tires can be maintained as much as possible.

Description

Technical Field

[0001] The present application relates to the field of automotive electronic technology, and in particular to a vehicle U-turn control method and an intelligent driving controller. Background Art

[0002] As urban traffic becomes increasingly busy and road space becomes increasingly limited, U-turns become particularly difficult when vehicles are in a small space, which not only increases the difficulty of driving but may also cause traffic accidents.

[0003] In the prior art, although some vehicles can realize small-angle four-wheel steering, it is still difficult to realize a U-turn in a very small space because the driver cannot make a correct judgment on the feasibility and safety of turning in place. In addition, if the four-wheel steering is used to turn in any activity space, the damage to the tires will be relatively serious.

[0004] In view of this, the present invention is proposed. Summary of the invention

[0005] In view of the above-mentioned defects or deficiencies in the prior art, the present application aims to provide a vehicle U-turn control method and an intelligent driving controller, which improve the feasibility and safety of vehicle U-turns, while also maintaining the service life of the tires to the greatest extent possible.

[0006] In a first aspect, an embodiment of the present application provides a vehicle U-turn control method, comprising:

[0007] Obtain the vehicle-obstacle distance, where the vehicle-obstacle distance is the distance between the vehicle body and the obstacle;

[0008] Based on the vehicle obstacle distance and vehicle U-turn related parameters, determining a vehicle U-turn mode, wherein the vehicle U-turn mode includes one of a front-wheel steering U-turn mode, a three-wheel steering U-turn mode, a four-wheel steering U-turn mode, an in-situ steering U-turn mode, and a non-U-turn mode, and the front-wheel steering U-turn mode, the three-wheel steering U-turn mode, the four-wheel steering U-turn mode, and the in-situ steering U-turn mode are all U-turn-able modes;

[0009] A corresponding U-turn action is performed based on the vehicle U-turn mode.

[0010] According to the technical solution provided in the embodiment of the present application, obtaining the distance between vehicles and obstacles includes:

[0011] The vehicle body millimeter wave radar is used to obtain a first distance between the side of the vehicle body and the obstacle and a second distance between the front of the vehicle body and the obstacle. If the vehicle turns to the left, the first distance is the distance between the left side of the vehicle body and the obstacle. If the vehicle turns to the right, the first distance is the distance between the right side of the vehicle body and the obstacle.

[0012] According to the technical solution provided in the embodiment of the present application, based on the vehicle-obstacle distance and vehicle turn-related parameters, determining the vehicle turn mode includes:

[0013] Based on vehicle U-turn related parameters in different U-turn modes, determining U-turn thresholds corresponding to different U-turn modes;

[0014] The vehicle-obstacle distance is compared with U-turn thresholds corresponding to different U-turn modes, and the vehicle U-turn mode is determined according to the comparison result.

[0015] According to the technical solution provided in the embodiment of the present application, determining the vehicle U-turn mode according to the comparison result includes:

[0016] If the comparison result shows that the distance between the vehicle and the obstacle meets the first condition, it is determined that the vehicle U-turn mode is one of the front-wheel steering U-turn mode, the three-wheel steering U-turn mode, the four-wheel steering U-turn mode and the in-situ steering U-turn mode, and the front-wheel steering U-turn mode has a higher priority than the three-wheel steering U-turn mode, the three-wheel steering U-turn mode has a higher priority than the four-wheel steering U-turn mode, and the four-wheel steering U-turn mode has a higher priority than the in-situ steering U-turn mode, wherein the first condition is D>r1+s1 and W>r1-L, D is the first distance, W is the second distance, r1+s1 and r1-L are U-turn thresholds in the front-wheel steering U-turn mode, L is the distance between the front axle and the rear axle of the vehicle, r1 is the minimum turning radius of the vehicle in the front-wheel steering U-turn mode, r1=L / sinφ1, φ1 is the maximum turning angle of the front wheel on the opposite side of the vehicle's turning direction, s1 is the distance from the steering center of the vehicle in the front-wheel steering U-turn mode to the rear wheel on the same side of the turning direction, s1=L / sinφ2, φ2 is the maximum turning angle of the front wheel on the same side of the vehicle's turning direction;

[0017] Among them, the front-wheel steering U-turn mode is that the four wheels work at the same speed, and the two front wheels are driven to steer in the turning direction; the three-wheel steering U-turn mode is that the two front wheels are driven to steer in the turning direction at the same speed, the rear wheel on the same side of the turning direction goes straight at the same speed in the opposite direction of the front wheels, and the rear wheel on the opposite side of the turning direction is in a locked state; the four-wheel steering U-turn mode is that the four wheels work at the same speed, the two front wheels are driven to steer in the turning direction, and the two rear wheels are driven to steer in the opposite direction; the in-place steering U-turn mode is that the four wheels work at the same speed, the front wheel on the opposite side of the turning direction and the rear wheel on the same side of the turning direction are driven to steer in the turning direction, the front wheel on the same side of the turning direction and the rear wheel on the opposite side of the turning direction are driven to steer in opposite directions, the rotation direction of the front wheel on the same side of the turning direction and the rotation direction of the rear wheel on the same side of the turning direction are consistent, both are traveling backward, and the rotation direction of the front wheel on the opposite side of the turning direction and the rear wheel on the opposite side of the turning direction are consistent, both are traveling forward.

[0018] According to the technical solution provided in the embodiment of the present application, determining the vehicle U-turn mode according to the comparison result also includes:

[0019] If the comparison result is that the distance between the vehicle and the obstacle does not meet the first condition but meets the second condition, then the vehicle U-turn mode is determined to be one of the three-wheel steering U-turn mode, the four-wheel steering U-turn mode and the in-place steering U-turn mode, and the three-wheel steering U-turn mode has a higher priority than the four-wheel steering U-turn mode, and the four-wheel steering U-turn mode has a higher priority than the in-place steering U-turn mode, wherein the second condition is D>r2-d and W>r2-L, r2-d and r2-L are the U-turn thresholds in the three-wheel steering U-turn mode, r2 is the minimum turning radius of the vehicle in the three-wheel steering U-turn mode, l is the vehicle body width, d=l / 2.

[0020] According to the technical solution provided in the embodiment of the present application, determining the vehicle U-turn mode according to the comparison result also includes:

[0021] If the comparison result is that the distance between the vehicle and the obstacle does not satisfy the first condition and the second condition but satisfies the third condition, then the vehicle U-turn mode is determined to be a four-wheel steering U-turn mode or an on-site steering U-turn mode, and the four-wheel steering U-turn mode has a higher priority than the on-site steering U-turn mode, wherein the third condition is D>r3+s2 and W>r3-L / 2, r3+s2 and r3-L / 2 are the U-turn thresholds in the four-wheel steering U-turn mode, r3 is the minimum turning radius of the vehicle in the four-wheel steering U-turn mode, r3=L / 2 / sinφ1, s2 is the distance from the steering center of the vehicle in the four-wheel steering U-turn mode to the rear wheel on the same side of the turning direction, and s2=L / 2 / sinφ2.

[0022] According to the technical solution provided in the embodiment of the present application, determining the vehicle U-turn mode according to the comparison result also includes:

[0023] If the distance between the vehicle and the obstacle does not meet the first condition, the second condition and the third condition and meets the fourth condition, the vehicle U-turn mode is determined to be the on-site turn mode, wherein the fourth condition is D>r4-d and W>r4-L / 2, r4-d and r4-L / 2 are the U-turn thresholds in the on-site turn mode, r4 is the minimum turning radius of the vehicle in the on-site turn mode,

[0024] According to the technical solution provided in the embodiment of the present application, determining the vehicle U-turn mode according to the comparison result also includes:

[0025] If the distance between the vehicle and the obstacle does not satisfy the first condition, the second condition, the third condition and the fourth condition, it is determined that the vehicle U-turn mode is the unable U-turn mode.

[0026] According to the technical solution provided in the embodiment of the present application, the corresponding U-turn action is performed based on the vehicle U-turn mode, including:

[0027] Feedback the vehicle U-turn mode to the user;

[0028] Receive confirmation from user feedback to execute the instruction of the vehicle U-turn mode and perform the corresponding U-turn action.

[0029] In a second aspect, an embodiment of the present application provides an intelligent driving controller, comprising a processor and a memory; the processor is used to execute the steps of the vehicle U-turn control method as described above by calling a program or instruction stored in the memory.

[0030] In summary, the present application proposes a vehicle U-turn control method and an intelligent driving controller, the vehicle U-turn control method includes: obtaining the distance between the vehicle and the obstacle, wherein the distance between the vehicle and the obstacle is the distance between the vehicle body and the obstacle; based on the distance between the vehicle and the obstacle and the vehicle U-turn related parameters, determining the vehicle U-turn mode, wherein the vehicle U-turn mode includes one of the front wheel steering U-turn mode, the three wheel steering U-turn mode, the four wheel steering U-turn mode, the in-situ steering U-turn mode and the non-U-turn mode, and the front wheel steering U-turn mode, the three wheel steering U-turn mode, the four wheel steering U-turn mode and the in-situ steering U-turn mode are all U-turn modes; based on the vehicle U-turn mode, the corresponding U-turn action is performed. By obtaining the distance between the vehicle body and the obstacle to determine whether the vehicle can turn around and in what way, the feasibility of the vehicle U-turn is improved, the vehicle can adaptively turn around based on the vehicle U-turn mode, the distance recognition of the U-turn process is more accurate, and the U-turn action is safer, which improves the safety of the vehicle U-turn and the passenger experience, and at the same time, by setting multiple optional U-turn strategies, the damage to the vehicle tires caused by the single use of the in-situ U-turn strategy is avoided, and the service life of the vehicle tires is protected. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A flow chart of a vehicle U-turn control method provided in an embodiment of the present application;

[0032] Figure 2 A flowchart of a U-turn execution strategy provided in an embodiment of the present application;

[0033] Figure 3 A schematic diagram of a vehicle in a front-wheel steering U-turn mode provided in an embodiment of the present application;

[0034] Figure 4 A schematic diagram of a vehicle in a three-wheel steering U-turn mode provided in an embodiment of the present application;

[0035] Figure 5 A schematic diagram of a vehicle in a four-wheel steering U-turn mode provided in an embodiment of the present application;

[0036] Figure 6 A schematic diagram of a vehicle in an on-the-spot turn mode provided in an embodiment of the present application;

[0037] Figure 7 A schematic diagram of the structure of a vehicle U-turn control device provided in an embodiment of the present application;

[0038] Figure 8 A schematic diagram of the structure of an intelligent driving controller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0040] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0041] As mentioned in the background technology, in response to the problems in the prior art, the present application proposes a vehicle U-turn control method. The present embodiment can be applicable to situations where the vehicle needs to make a U-turn. The method can be executed by a vehicle U-turn control device, which can be implemented in software and / or hardware and can be configured in an intelligent driving controller. Figure 1 A flow chart of a vehicle U-turn control method provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the method includes:

[0042] S110: Obtain a vehicle-obstacle distance, where the vehicle-obstacle distance is the distance between the vehicle body and the obstacle.

[0043] The vehicle in this embodiment has a distance sensor installed on its body, and each wheel module is equipped with a drive motor. The operating state of each drive motor can be controlled separately, and the operating state of the corresponding wheel can be controlled by controlling the operating state of the drive motor separately. Specifically, the distance sensor installed on the body can be used to collect the distance between the vehicle obstacle. Optionally, the distance sensor can be a millimeter wave radar. Exemplarily, the distance between the front of the vehicle body and the obstacle can be collected by using the millimeter wave radar installed at the front of the vehicle body (generally at the front position of the vehicle), the distance between the rear of the vehicle body and the obstacle can be collected by using the millimeter wave radar installed at the rear of the vehicle body, the distance between the left side of the vehicle body and the obstacle can be collected by using the millimeter wave radar installed at the left side of the vehicle body (generally at the left fender of the vehicle body), and the distance between the right side of the vehicle body and the obstacle can be collected by using the millimeter wave radar installed at the right side of the vehicle body (generally at the right fender of the vehicle body). In a feasible solution, obtaining the distance between the vehicle obstacle can be when the ADS (Advanced Driving System, high-order intelligent driving system) intelligent driving controller inside the vehicle receives a U-turn request sent by the user, controls the distance sensor to collect the distance between the vehicle obstacle and obtains the distance between the vehicle obstacle collected by the distance sensor.

[0044] Preferably, in this embodiment, obtaining the distance between the vehicle and the obstacle may include: using the vehicle millimeter wave radar to obtain the first distance between the side of the vehicle and the obstacle and the second distance between the front of the vehicle and the obstacle, wherein, if the vehicle turns to the left, the first distance is the distance between the left side of the vehicle and the obstacle, and if the vehicle turns to the right, the first distance is the distance between the right side of the vehicle and the obstacle. In this embodiment, the use of the millimeter wave radar to obtain the distance between the vehicle and the obstacle makes the identification result of the distance between the vehicle and the obstacle more accurate, and can ensure the safety of the vehicle turning. In addition, only the distance between the side of the vehicle and the front of the vehicle and the obstacle can be used to determine whether the vehicle can turn around, thereby improving the efficiency of automatic turning. Exemplarily, when the vehicle turns to the left, the millimeter wave radar on the left side of the vehicle can be used to obtain the first distance between the left side of the vehicle and the obstacle, and the millimeter wave radar on the front of the vehicle can be used to obtain the second distance between the front of the vehicle and the obstacle. When the vehicle turns to the right, the millimeter wave radar on the right side of the vehicle can be used to obtain the first distance between the right side of the vehicle and the obstacle, and the millimeter wave radar on the front of the vehicle can be used to obtain the second distance between the front of the vehicle and the obstacle. It is understandable that the vehicle's U-turn direction may be set by the user or may be automatically determined by the vehicle based on road conditions, and is not specifically limited here.

[0045] S120. Determine a vehicle U-turn mode based on the vehicle-obstacle distance and vehicle U-turn related parameters, wherein the vehicle U-turn mode includes one of a front-wheel steering U-turn mode, a three-wheel steering U-turn mode, a four-wheel steering U-turn mode, an on-the-spot steering U-turn mode and a non-U-turn mode, and the front-wheel steering U-turn mode, the three-wheel steering U-turn mode, the four-wheel steering U-turn mode and the on-the-spot steering U-turn mode are all U-turn-able modes.

[0046] Among them, the vehicle U-turn related parameters are parameters that affect the vehicle U-turn. Exemplarily, the vehicle U-turn related parameters may include the distance between the front axle and the rear axle of the vehicle, the width of the vehicle body, the minimum turning radius of the vehicle, and the maximum turning angle of the wheels. The front wheel steering U-turn mode is that the four wheels work at the same speed, and the two front wheels are driven to turn in the direction of the turn. Exemplarily, when the vehicle turns left, the front wheel steering U-turn mode is that the four wheels work at the same speed, and the two front wheels are driven to turn to the left. The three-wheel steering U-turn mode is that the two front wheels are driven to turn in the direction of the turn at the same speed, the rear wheel on the same side of the turning direction goes straight at the same speed in the opposite direction of the front wheels, and the right rear wheel on the opposite side of the turning direction is in a locked state. Exemplarily, when the vehicle turns left, the three-wheel steering U-turn mode is that the two front wheels are driven to turn to the left at the same speed, the left rear wheel goes straight at the same speed in the opposite direction of the front wheel, and the right rear wheel is in a locked state. The four-wheel steering U-turn mode is that the four wheels work at the same speed, the two front wheels are driven to turn in the direction of the turn, and the two rear wheels are driven to turn in the opposite direction. Exemplarily, when the vehicle turns left, the four-wheel steering U-turn mode is that the four wheels work at the same speed, the two front wheels are driven to the left, and the two rear wheels are driven to the right. The in-place steering U-turn mode is that the four wheels work at the same speed, the front wheel on the opposite side of the turning direction and the rear wheel on the same side of the turning direction are driven to the turning direction, the front wheel on the same side of the turning direction and the rear wheel on the opposite side of the turning direction are driven to the opposite direction, the rotation direction of the front wheel on the same side of the turning direction and the rotation direction of the rear wheel on the same side of the turning direction are consistent, both are traveling backward, the rotation direction of the front wheel on the opposite side of the turning direction and the rotation direction of the rear wheel on the opposite side of the turning direction are consistent, both are traveling forward. Exemplarily, when the vehicle turns left, the in-place steering U-turn mode is that the four wheels work at the same speed, the right front wheel and the left rear wheel are driven to the left, the left front wheel and the right rear wheel are driven to the right, the rotation direction of the left front wheel is consistent with the rotation direction of the left rear wheel, both are traveling backward, and the rotation direction of the right front wheel is consistent with the rotation direction of the right rear wheel, both are traveling forward. The unable to U-turn mode determines that the vehicle cannot make a U-turn in the current space, and no U-turn action is performed in this mode.

[0047] Preferably, in this embodiment, determining the vehicle U-turn mode based on the vehicle-obstruction distance and the vehicle U-turn related parameters may include: determining the U-turn thresholds corresponding to different U-turn modes based on the vehicle U-turn related parameters under different U-turn modes; comparing the vehicle-obstruction distance with the U-turn thresholds corresponding to different U-turn modes, and determining the vehicle U-turn mode according to the comparison result. The above-mentioned determination of the vehicle U-turn mode by the pre-set U-turn threshold can improve the accuracy of the vehicle U-turn judgment process and further ensure the safety and feasibility of the vehicle U-turn.

[0048] The U-turn threshold in this embodiment is the distance value between the vehicle and the obstacle corresponding to the vehicle being able to complete the U-turn action in the current U-turn mode. Specifically, if the distance between the vehicle and the obstacle is detected to be greater than the U-turn threshold in the current U-turn mode, the vehicle can complete the U-turn action in the current U-turn mode. If the distance between the vehicle and the obstacle is less than or equal to the U-turn threshold in the current U-turn mode, the vehicle cannot complete the U-turn action in the current U-turn mode. It can be understood that since different U-turn modes require different U-turn spaces, different U-turn modes correspond to different U-turn thresholds.

[0049] S130: Execute a corresponding U-turn action based on the vehicle U-turn mode.

[0050] Optionally, executing a corresponding U-turn action based on the vehicle U-turn mode may include: feeding back the vehicle U-turn mode to the user; receiving confirmation of the user's feedback, executing the instruction of the vehicle U-turn mode and executing the corresponding U-turn action. The above-mentioned U-turn after user confirmation can further increase the safety of the vehicle U-turn. Executing a corresponding U-turn action based on the vehicle U-turn mode may also include: the vehicle automatically executes the corresponding U-turn action based on the vehicle U-turn mode without the need for interaction with the user, which can increase the user experience. Executing a corresponding U-turn action based on the vehicle U-turn mode may also include: feeding back the vehicle U-turn mode to the user, and after receiving the vehicle U-turn mode selected by the user, the user manually completes the U-turn action.

[0051] Figure 2 A flowchart of a U-turn execution strategy provided in an embodiment of the present application is shown in FIG. Figure 2As shown, the user turns on the vehicle U-turn switch with one button through the vehicle terminal (the vehicle terminal can be, for example, the central control screen), and the intelligent driving controller receives the vehicle U-turn instruction sent by the user, controls the millimeter wave radar to obtain the distance between the vehicle obstacles and determines the vehicle U-turn mode according to the distance between the vehicle obstacles. If the vehicle U-turn mode is one of the U-turn modes, it is fed back to the user and determines whether the user manually clicks the confirmation U-turn button through the vehicle terminal. If it is determined that the user manually clicks the confirmation U-turn button, the vehicle starts to perform the action corresponding to the determined vehicle U-turn mode. After the vehicle completes the corresponding U-turn action, it straightens the vehicle and puts it in P gear, waiting for the user to take over the vehicle. If it is determined that the user does not manually click the confirmation U-turn button, the vehicle does not perform the action corresponding to the determined vehicle U-turn mode and returns to the initial state of the vehicle. If the vehicle U-turn mode is a non-U-turn mode, the user is prompted that the U-turn action cannot be completed, and the user drives the vehicle to a suitable position and then re-executes the above operation.

[0052] The vehicle U-turn control method provided in this embodiment includes: obtaining the distance between the vehicle and the obstacle, wherein the distance between the vehicle and the obstacle is the distance between the vehicle body and the obstacle; determining the vehicle U-turn mode based on the distance between the vehicle and the obstacle and the vehicle U-turn related parameters, wherein the vehicle U-turn mode includes one of the front wheel steering U-turn mode, the three wheel steering U-turn mode, the four wheel steering U-turn mode, the in-situ steering U-turn mode and the non-U-turn mode, and the front wheel steering U-turn mode, the three wheel steering U-turn mode, the four wheel steering U-turn mode and the in-situ steering U-turn mode are all U-turnable modes; and performing the corresponding U-turn action based on the vehicle U-turn mode. By obtaining the distance between the vehicle body and the obstacle to determine whether the vehicle can U-turn and in what way to U-turn, the feasibility of the vehicle U-turn is improved, the vehicle can make an adaptive U-turn based on the vehicle U-turn mode, the distance recognition during the U-turn process is more accurate, the U-turn action is also safer, the safety of the vehicle U-turn and the passenger experience are improved, and at the same time, by setting multiple optional U-turn strategies, the damage to the vehicle tires caused by the single use of the in-situ U-turn strategy is avoided, and the service life of the vehicle tires is protected.

[0053] On the basis of the above embodiments, further determining the vehicle U-turn mode according to the comparison result includes:

[0054] If the comparison result shows that the distance between the vehicle and the obstacle meets the first condition, it is determined that the vehicle U-turn mode is one of the front-wheel steering U-turn mode, the three-wheel steering U-turn mode, the four-wheel steering U-turn mode and the in-situ steering U-turn mode, and the front-wheel steering U-turn mode has a higher priority than the three-wheel steering U-turn mode, the three-wheel steering U-turn mode has a higher priority than the four-wheel steering U-turn mode, and the four-wheel steering U-turn mode has a higher priority than the in-situ steering U-turn mode, wherein the first condition is D>r1+s1 and W>r1-L, D is the first distance, W is the second distance, r1+s1 and r1-L are U-turn thresholds in the front-wheel steering U-turn mode, L is the distance between the front axle and the rear axle of the vehicle, r1 is the minimum turning radius of the vehicle in the front-wheel steering U-turn mode, r1=L / sinφ1, φ1 is the maximum turning angle of the front wheel on the opposite side of the vehicle's turning direction, s1 is the distance from the steering center of the vehicle in the front-wheel steering U-turn mode to the rear wheel on the same side of the turning direction, s1=L / sinφ2, φ2 is the maximum turning angle of the front wheel on the same side of the vehicle's turning direction;

[0055] Among them, the front-wheel steering U-turn mode is that the four wheels work at the same speed, and the two front wheels are driven to steer in the turning direction; the three-wheel steering U-turn mode is that the two front wheels are driven to steer in the turning direction at the same speed, the rear wheel on the same side of the turning direction goes straight at the same speed in the opposite direction of the front wheels, and the rear wheel on the opposite side of the turning direction is in a locked state; the four-wheel steering U-turn mode is that the four wheels work at the same speed, the two front wheels are driven to steer in the turning direction, and the two rear wheels are driven to steer in the opposite direction; the in-place steering U-turn mode is that the four wheels work at the same speed, the front wheel on the opposite side of the turning direction and the rear wheel on the same side of the turning direction are driven to steer in the turning direction, the front wheel on the same side of the turning direction and the rear wheel on the opposite side of the turning direction are driven to steer in opposite directions, the rotation direction of the front wheel on the same side of the turning direction and the rotation direction of the rear wheel on the same side of the turning direction are consistent, both are traveling backward, and the rotation direction of the front wheel on the opposite side of the turning direction and the rear wheel on the opposite side of the turning direction are consistent, both are traveling forward. Figure 3 A schematic diagram of a vehicle in a front-wheel steering U-turn mode provided in an embodiment of the present application, Figure 4 A schematic diagram of a vehicle in a three-wheel steering U-turn mode provided in an embodiment of the present application, Figure 5 A schematic diagram of a vehicle in a four-wheel steering U-turn mode provided in an embodiment of the present application, Figure 6 A schematic diagram of a vehicle in a turn-on-place mode provided in an embodiment of the present application, such as Figure 3-6 As shown, the vehicles are all in the state of turning left.

[0056] The above technical solution determines the corresponding U-turn mode under this condition by comparing the distance between the vehicle obstacles and the U-turn threshold in the front wheel steering U-turn mode, thereby improving the accuracy of the vehicle U-turn judgment process and further ensuring the safety and feasibility of the vehicle U-turn.

[0057] It can be understood that, for a vehicle, the front-wheel steering U-turn mode requires the largest space. If the current space where the vehicle is located can realize the front-wheel steering U-turn, it can also realize one of the three-wheel steering U-turn mode, the four-wheel steering U-turn mode and the in-situ steering U-turn mode. Therefore, when the distance between the vehicle and the obstacle meets the first condition, the vehicle U-turn mode can be one of the front-wheel steering U-turn mode, the three-wheel steering U-turn mode, the four-wheel steering U-turn mode and the in-situ steering U-turn mode. Different U-turn modes have different degrees of wear and tear on the tires, and the control processes required by different U-turn modes are also different in complexity. Therefore, the priorities of different U-turn modes can be set according to the degree of wear and tear on the tires of different U-turn modes and the control complexity of the required controller. Specifically, the front-wheel steering U-turn mode in this embodiment has the lowest degree of wear and tear on the tires and the lowest degree of control complexity of the required controller. Therefore, it has the highest priority, followed by the three-wheel steering U-turn mode, and then the four-wheel steering U-turn mode. The in-situ steering U-turn mode has the highest degree of wear and tear on the tires and the highest degree of control complexity of the required controller. Therefore, it has the lowest priority. Correspondingly, in the step of executing the corresponding U-turn action based on the vehicle U-turn mode, the vehicle can feedback the front-wheel steering U-turn mode with the highest priority to the user through the on-board terminal, so as to minimize the tire wear and the control complexity of the controller while realizing the vehicle U-turn; the four feasible U-turn modes can also be fed back to the user and marked with priority for the user to choose, so as to improve the user's car experience.

[0058] For example, if the vehicle turns left, φ1 is the maximum turning angle of the right front wheel of the vehicle, s1 is the distance from the steering center of the vehicle to the left rear wheel in the front wheel steering U-turn mode, and φ2 is the maximum turning angle of the left front wheel of the vehicle. If the vehicle turns right, φ1 is the maximum turning angle of the left front wheel of the vehicle, s1 is the distance from the steering center of the vehicle to the right rear wheel in the front wheel steering U-turn mode, and φ2 is the maximum turning angle of the right front wheel of the vehicle.

[0059] On the basis of the above embodiments, further, determining the vehicle U-turn mode according to the comparison result also includes:

[0060] If the comparison result is that the distance between the vehicle and the obstacle does not meet the first condition but meets the second condition, then the vehicle U-turn mode is determined to be one of the three-wheel steering U-turn mode, the four-wheel steering U-turn mode and the in-place steering U-turn mode, and the three-wheel steering U-turn mode has a higher priority than the four-wheel steering U-turn mode, and the four-wheel steering U-turn mode has a higher priority than the in-place steering U-turn mode, wherein the second condition is D>r2-d and W>r2-L, r2-d and r2-L are the U-turn thresholds in the three-wheel steering U-turn mode, r2 is the minimum turning radius of the vehicle in the three-wheel steering U-turn mode, l is the vehicle body width, d=l / 2.

[0061] The above technical solution determines the corresponding U-turn mode under this condition by comparing the distance between the vehicle obstacles and the U-turn threshold in the three-wheel steering U-turn mode, thereby improving the accuracy of the vehicle U-turn judgment process and further ensuring the safety and feasibility of the vehicle U-turn.

[0062] On the basis of the above embodiments, further, determining the vehicle U-turn mode according to the comparison result also includes:

[0063] If the comparison result is that the distance between the vehicle and the obstacle does not satisfy the first condition and the second condition but satisfies the third condition, then the vehicle U-turn mode is determined to be a four-wheel steering U-turn mode or an on-site steering U-turn mode, and the four-wheel steering U-turn mode has a higher priority than the on-site steering U-turn mode, wherein the third condition is D>r3+s2 and W>r3-L / 2, r3+s2 and r3-L / 2 are the U-turn thresholds in the four-wheel steering U-turn mode, r3 is the minimum turning radius of the vehicle in the four-wheel steering U-turn mode, r3=L / 2 / sinφ1, s2 is the distance from the steering center of the vehicle in the four-wheel steering U-turn mode to the rear wheel on the same side of the turning direction, and s2=L / 2 / sinφ2.

[0064] The above technical solution determines the corresponding U-turn mode under this condition by comparing the distance between the vehicle obstacles and the U-turn threshold in the four-wheel steering U-turn mode, thereby improving the accuracy of the vehicle U-turn judgment process and further ensuring the safety and feasibility of the vehicle U-turn.

[0065] On the basis of the above embodiments, further, determining the vehicle U-turn mode according to the comparison result also includes:

[0066] If the distance between the vehicle and the obstacle does not meet the first condition, the second condition and the third condition and meets the fourth condition, the vehicle U-turn mode is determined to be the on-site turn mode, wherein the fourth condition is D>r4-d and W>r4-L / 2, r4-d and r4-L / 2 are the U-turn thresholds in the on-site turn mode, r4 is the minimum turning radius of the vehicle in the on-site turn mode,

[0067] The above technical solution determines the corresponding U-turn mode under the condition by comparing the distance between the vehicle obstacles and the U-turn threshold in the on-the-spot turning mode, thereby improving the accuracy of the vehicle U-turn judgment process and further ensuring the safety and feasibility of the vehicle U-turn.

[0068] On the basis of the above embodiments, further, determining the vehicle U-turn mode according to the comparison result also includes:

[0069] If the distance between the vehicle and the obstacle does not satisfy the first condition, the second condition, the third condition and the fourth condition, it is determined that the vehicle U-turn mode is the unable U-turn mode.

[0070] Figure 7 A schematic diagram of the structure of a vehicle U-turn control device provided in an embodiment of the present application, wherein the device is arranged in an intelligent driving controller, such as Figure 7 As shown, the device comprises:

[0071] The vehicle-obstacle distance acquisition module 710 is used to acquire the vehicle-obstacle distance, wherein the vehicle-obstacle distance is the distance between the vehicle body and the obstacle;

[0072] The vehicle U-turn mode determination module 720 is used to determine the vehicle U-turn mode based on the vehicle obstacle distance and the vehicle U-turn related parameters, wherein the vehicle U-turn mode includes one of a front-wheel steering U-turn mode, a three-wheel steering U-turn mode, a four-wheel steering U-turn mode, an in-situ steering U-turn mode and a non-U-turn mode, and the front-wheel steering U-turn mode, the three-wheel steering U-turn mode, the four-wheel steering U-turn mode and the in-situ steering U-turn mode are all U-turn-able modes;

[0073] The U-turn action execution module 730 is used to execute a corresponding U-turn action based on the vehicle U-turn mode.

[0074] The vehicle U-turn control device provided in this embodiment includes a vehicle-obstacle distance acquisition module, which is used to obtain the vehicle-obstacle distance, wherein the vehicle-obstacle distance is the distance between the vehicle body and the obstacle; a vehicle U-turn mode determination module, which is used to determine the vehicle U-turn mode based on the vehicle-obstacle distance and vehicle U-turn related parameters, wherein the vehicle U-turn mode includes one of a front-wheel steering U-turn mode, a three-wheel steering U-turn mode, a four-wheel steering U-turn mode, an in-situ steering U-turn mode and a non-U-turn mode, and the front-wheel steering U-turn mode, the three-wheel steering U-turn mode, the four-wheel steering U-turn mode and the in-situ steering U-turn mode are all U-turn-able modes; a U-turn action execution module, which is used to execute a corresponding U-turn action based on the vehicle U-turn mode. By obtaining the distance between the vehicle body and the obstacle to determine whether the vehicle can make a U-turn and in what manner, the feasibility of the vehicle's U-turn is improved. The vehicle can adaptively make a U-turn based on the vehicle's U-turn mode. The distance recognition during the U-turn process is more accurate and the U-turn action is safer, thereby improving the safety of the vehicle's U-turn and the passenger experience. At the same time, by setting multiple optional U-turn strategies, damage to the vehicle's tires caused by using a single on-the-spot U-turn strategy is avoided, thereby protecting the service life of the vehicle's tires.

[0075] On the basis of the above technical solutions, the vehicle-obstacle distance acquisition module 710 can be further specifically used for:

[0076] The vehicle body millimeter wave radar is used to obtain a first distance between the side of the vehicle body and the obstacle and a second distance between the front of the vehicle body and the obstacle. If the vehicle turns to the left, the first distance is the distance between the left side of the vehicle body and the obstacle. If the vehicle turns to the right, the first distance is the distance between the right side of the vehicle body and the obstacle.

[0077] On the basis of the above technical solutions, further, the vehicle U-turn mode determination module 720 includes:

[0078] A U-turn threshold determination unit, used to determine the U-turn thresholds corresponding to different U-turn modes based on vehicle U-turn related parameters in different U-turn modes;

[0079] The vehicle U-turn mode determination unit is used to compare the vehicle-obstacle distance with the U-turn thresholds corresponding to different U-turn modes, and determine the vehicle U-turn mode according to the comparison result.

[0080] On the basis of the above technical solutions, further, the vehicle U-turn mode determination unit can be specifically used for:

[0081] If the comparison result shows that the distance between the vehicle and the obstacle meets the first condition, it is determined that the vehicle U-turn mode is one of the front-wheel steering U-turn mode, the three-wheel steering U-turn mode, the four-wheel steering U-turn mode and the in-situ steering U-turn mode, and the front-wheel steering U-turn mode has a higher priority than the three-wheel steering U-turn mode, the three-wheel steering U-turn mode has a higher priority than the four-wheel steering U-turn mode, and the four-wheel steering U-turn mode has a higher priority than the in-situ steering U-turn mode, wherein the first condition is D>r1+s1 and W>r1-L, D is the first distance, W is the second distance, r1+s1 and r1-L are U-turn thresholds in the front-wheel steering U-turn mode, L is the distance between the front axle and the rear axle of the vehicle, r1 is the minimum turning radius of the vehicle in the front-wheel steering U-turn mode, r1=L / sinφ1, φ1 is the maximum turning angle of the front wheel on the opposite side of the vehicle's turning direction, s1 is the distance from the steering center of the vehicle in the front-wheel steering U-turn mode to the rear wheel on the same side of the turning direction, s1=L / sinφ2, φ2 is the maximum turning angle of the front wheel on the same side of the vehicle's turning direction;

[0082] Among them, the front-wheel steering U-turn mode is that the four wheels work at the same speed, and the two front wheels are driven to steer in the turning direction; the three-wheel steering U-turn mode is that the two front wheels are driven to steer in the turning direction at the same speed, the rear wheel on the same side of the turning direction goes straight at the same speed in the opposite direction of the front wheels, and the rear wheel on the opposite side of the turning direction is in a locked state; the four-wheel steering U-turn mode is that the four wheels work at the same speed, the two front wheels are driven to steer in the turning direction, and the two rear wheels are driven to steer in the opposite direction; the in-place steering U-turn mode is that the four wheels work at the same speed, the front wheel on the opposite side of the turning direction and the rear wheel on the same side of the turning direction are driven to steer in the turning direction, the front wheel on the same side of the turning direction and the rear wheel on the opposite side of the turning direction are driven to steer in opposite directions, the rotation direction of the front wheel on the same side of the turning direction and the rotation direction of the rear wheel on the same side of the turning direction are consistent, both are traveling backward, and the rotation direction of the front wheel on the opposite side of the turning direction and the rear wheel on the opposite side of the turning direction are consistent, both are traveling forward.

[0083] On the basis of the above technical solutions, further, the vehicle U-turn mode determination unit can also be specifically used for:

[0084] If the comparison result is that the distance between the vehicle and the obstacle does not meet the first condition but meets the second condition, then the vehicle U-turn mode is determined to be one of the three-wheel steering U-turn mode, the four-wheel steering U-turn mode and the in-place steering U-turn mode, and the three-wheel steering U-turn mode has a higher priority than the four-wheel steering U-turn mode, and the four-wheel steering U-turn mode has a higher priority than the in-place steering U-turn mode, wherein the second condition is D>r2-d and W>r2-L, r2-d and r2-L are the U-turn thresholds in the three-wheel steering U-turn mode, r2 is the minimum turning radius of the vehicle in the three-wheel steering U-turn mode, l is the vehicle body width, d=l / 2.

[0085] On the basis of the above technical solutions, further, the vehicle U-turn mode determination unit can also be specifically used for:

[0086] If the comparison result is that the distance between the vehicle and the obstacle does not satisfy the first condition and the second condition but satisfies the third condition, then the vehicle U-turn mode is determined to be a four-wheel steering U-turn mode or an on-site steering U-turn mode, and the four-wheel steering U-turn mode has a higher priority than the on-site steering U-turn mode, wherein the third condition is D>r3+s2 and W>r3-L / 2, r3+s2 and r3-L / 2 are the U-turn thresholds in the four-wheel steering U-turn mode, r3 is the minimum turning radius of the vehicle in the four-wheel steering U-turn mode, r3=L / 2 / sinφ1, s2 is the distance from the steering center of the vehicle in the four-wheel steering U-turn mode to the rear wheel on the same side of the turning direction, and s2=L / 2 / sinφ2.

[0087] On the basis of the above technical solutions, further, the vehicle U-turn mode determination unit can also be specifically used for:

[0088] If the distance between the vehicle and the obstacle does not meet the first condition, the second condition and the third condition and meets the fourth condition, the vehicle U-turn mode is determined to be the on-site turn mode, wherein the fourth condition is D>r4-d and W>r4-L / 2, r4-d and r4-L / 2 are the U-turn thresholds in the on-site turn mode, r4 is the minimum turning radius of the vehicle in the on-site turn mode,

[0089] On the basis of the above technical solutions, further, the vehicle U-turn mode determination unit can also be specifically used for:

[0090] If the distance between the vehicle and the obstacle does not satisfy the first condition, the second condition, the third condition and the fourth condition, it is determined that the vehicle U-turn mode is the unable U-turn mode.

[0091] On the basis of the above technical solutions, further, the U-turn action execution module 730 can be specifically used for:

[0092] Feedback the vehicle U-turn mode to the user;

[0093] Receive confirmation from user feedback to execute the instruction of the vehicle U-turn mode and perform the corresponding U-turn action.

[0094] The vehicle U-turn control device provided in the embodiment of the present application can execute the steps in the vehicle U-turn control method provided in the method embodiment of the present application, and the execution steps and beneficial effects are no longer repeated here.

[0095] Figure 8 This is a schematic diagram of the structure of an intelligent driving controller provided in an embodiment of the present application. Figure 8 As shown, the intelligent driving controller 300 includes a processor 331 and a memory 332, wherein the processor 331 can be one or more.

[0096] The processor 331 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the intelligent driving controller 300 to perform desired functions.

[0097] The memory 332 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer programs or instructions may be stored on the computer-readable storage medium, and the processor 331 may call the program or instruction to implement the vehicle turn control method of any embodiment of the present application described above and / or other desired functions. Various contents such as initial external parameters, thresholds, etc. may also be stored in the computer-readable storage medium.

[0098] In one example, the intelligent driving controller 300 may also include: an input device 333 and an output device 334, which are interconnected via a bus system and / or other forms of connection mechanisms (not shown). The input device 333 may include, for example, a keyboard, a mouse, etc. The output device 334 may output various information to the outside, including warning prompt information, braking force, etc. The output device 334 may include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, etc.

[0099] Of course, to simplify, Figure 3 Only some of the components related to the present application in the intelligent driving controller 300 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application conditions, the intelligent driving controller 300 may also include any other appropriate components.

[0100] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the vehicle turn control method provided in any embodiment of the present application.

[0101] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0102] In addition, the embodiments of the present application may also be a computer-readable storage medium on which a program or instruction is stored, and the program or instruction enables a computer to execute the steps of the vehicle turn control method provided by any embodiment of the present application.

[0103] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0104] It should be noted that the terms used in this application are only for describing specific embodiments, rather than limiting the scope of this application. As shown in the specification and claims of this application, unless the context clearly indicates an exception, the words "one", "a", "a kind of" and / or "the" do not specifically refer to the singular, but may also include the plural. The terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, method or device including the elements.

[0105] It should also be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship 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 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 on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0106] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and its core ideas of this application. The above is only the preferred implementation method of this application. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, ordinary technicians in this technical field can make several improvements, modifications or changes without departing from the principles of this application, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the concept and technical solution of the invention to other occasions without improvement, should be regarded as the scope of protection of this application.

Claims

1. A vehicle U-turn control method, characterized in that: include: Obtain the vehicle-obstacle distance, where the vehicle-obstacle distance is the distance between the vehicle body and the obstacle; Based on the vehicle obstacle distance and vehicle U-turn related parameters, determining a vehicle U-turn mode, wherein the vehicle U-turn mode includes one of a front-wheel steering U-turn mode, a three-wheel steering U-turn mode, a four-wheel steering U-turn mode, an in-situ steering U-turn mode, and a non-U-turn mode, and the front-wheel steering U-turn mode, the three-wheel steering U-turn mode, the four-wheel steering U-turn mode, and the in-situ steering U-turn mode are all U-turn-able modes; A corresponding U-turn action is performed based on the vehicle U-turn mode.

2. The method according to claim 1, characterized in that Get the distance between vehicles and obstacles, including: The vehicle body millimeter wave radar is used to obtain a first distance between the side of the vehicle body and the obstacle and a second distance between the front of the vehicle body and the obstacle. If the vehicle turns to the left, the first distance is the distance between the left side of the vehicle body and the obstacle. If the vehicle turns to the right, the first distance is the distance between the right side of the vehicle body and the obstacle.

3. The method according to claim 2, characterized in that Based on the vehicle-obstacle distance and vehicle turn-related parameters, a vehicle turn mode is determined, including: Based on vehicle U-turn related parameters in different U-turn modes, determining U-turn thresholds corresponding to different U-turn modes; The vehicle-obstacle distance is compared with U-turn thresholds corresponding to different U-turn modes, and the vehicle U-turn mode is determined according to the comparison result.

4. The method according to claim 3, characterized in that The vehicle U-turn mode is determined based on the comparison results, including: If the comparison result shows that the distance between the vehicle and the obstacle meets the first condition, it is determined that the vehicle U-turn mode is one of the front-wheel steering U-turn mode, the three-wheel steering U-turn mode, the four-wheel steering U-turn mode and the in-situ steering U-turn mode, and the front-wheel steering U-turn mode has a higher priority than the three-wheel steering U-turn mode, the three-wheel steering U-turn mode has a higher priority than the four-wheel steering U-turn mode, and the four-wheel steering U-turn mode has a higher priority than the in-situ steering U-turn mode, wherein the first condition is D>r1+s1 and W>r1-L, D is the first distance, W is the second distance, r1+s1 and r1-L are U-turn thresholds in the front-wheel steering U-turn mode, L is the distance between the front axle and the rear axle of the vehicle, r1 is the minimum turning radius of the vehicle in the front-wheel steering U-turn mode, r1=L / sinφ1, φ1 is the maximum turning angle of the front wheel on the opposite side of the vehicle's turning direction, s1 is the distance from the steering center of the vehicle in the front-wheel steering U-turn mode to the rear wheel on the same side of the turning direction, s1=L / sinφ2, φ2 is the maximum turning angle of the front wheel on the same side of the vehicle's turning direction; Among them, the front-wheel steering U-turn mode is that the four wheels work at the same speed, and the two front wheels are driven to steer in the turning direction; the three-wheel steering U-turn mode is that the two front wheels are driven to steer in the turning direction at the same speed, the rear wheel on the same side of the turning direction goes straight at the same speed in the opposite direction of the front wheels, and the rear wheel on the opposite side of the turning direction is in a locked state; the four-wheel steering U-turn mode is that the four wheels work at the same speed, the two front wheels are driven to steer in the turning direction, and the two rear wheels are driven to steer in the opposite direction; the in-place steering U-turn mode is that the four wheels work at the same speed, the front wheel on the opposite side of the turning direction and the rear wheel on the same side of the turning direction are driven to steer in the turning direction, the front wheel on the same side of the turning direction and the rear wheel on the opposite side of the turning direction are driven to steer in opposite directions, the rotation direction of the front wheel on the same side of the turning direction and the rotation direction of the rear wheel on the same side of the turning direction are consistent, both are traveling backward, and the rotation direction of the front wheel on the opposite side of the turning direction and the rear wheel on the opposite side of the turning direction are consistent, both are traveling forward.

5. The method according to claim 4, characterized in that Determining the vehicle U-turn mode according to the comparison result also includes: If the comparison result is that the distance between the vehicle and the obstacle does not meet the first condition but meets the second condition, then the vehicle U-turn mode is determined to be one of the three-wheel steering U-turn mode, the four-wheel steering U-turn mode and the in-place steering U-turn mode, and the three-wheel steering U-turn mode has a higher priority than the four-wheel steering U-turn mode, and the four-wheel steering U-turn mode has a higher priority than the in-place steering U-turn mode, wherein the second condition is D>r2-d and W>r2-L, r2-d and r2-L are the U-turn thresholds in the three-wheel steering U-turn mode, r2 is the minimum turning radius of the vehicle in the three-wheel steering U-turn mode, l is the vehicle body width, d=l / 2.

6. The method according to claim 5, characterized in that Determining the vehicle U-turn mode according to the comparison result also includes: If the comparison result is that the distance between the vehicle and the obstacle does not satisfy the first condition and the second condition but satisfies the third condition, then the vehicle U-turn mode is determined to be a four-wheel steering U-turn mode or an on-site steering U-turn mode, and the four-wheel steering U-turn mode has a higher priority than the on-site steering U-turn mode, wherein the third condition is D>r3+s2 and W>r3-L / 2, r3+s2 and r3-L / 2 are the U-turn thresholds in the four-wheel steering U-turn mode, r3 is the minimum turning radius of the vehicle in the four-wheel steering U-turn mode, r3=L / 2 / sinφ1, s2 is the distance from the steering center of the vehicle in the four-wheel steering U-turn mode to the rear wheel on the same side of the turning direction, and s2=L / 2 / sinφ2.

7. The method according to claim 6, characterized in that Determining the vehicle U-turn mode according to the comparison result also includes: If the distance between the vehicle and the obstacle does not meet the first condition, the second condition and the third condition and meets the fourth condition, the vehicle U-turn mode is determined to be the on-site turn mode, wherein the fourth condition is D>r4-d and W>r4-L / 2, r4-d and r4-L / 2 are the U-turn thresholds in the on-site turn mode, r4 is the minimum turning radius of the vehicle in the on-site turn mode, 8. The method according to claim 7, characterized in that Determining the vehicle U-turn mode according to the comparison result also includes: If the distance between the vehicle and the obstacle does not satisfy the first condition, the second condition, the third condition and the fourth condition, it is determined that the vehicle U-turn mode is the unable U-turn mode.

9. The method according to claim 7, characterized in that: Executing a corresponding U-turn action based on the vehicle U-turn mode includes: Feedback the vehicle U-turn mode to the user; Receive confirmation from user feedback to execute the instruction of the vehicle U-turn mode and perform the corresponding U-turn action.

10. An intelligent driving controller, characterized in that: It comprises a processor and a memory; the processor is used to execute the steps of the vehicle turn control method as claimed in any one of claims 1 to 9 by calling the program or instructions stored in the memory.

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