A vehicle U-turn control method and an intelligent driving controller

Abstract

This application provides a vehicle U-turn control method and an intelligent driving controller. The vehicle U-turn control method includes: obtaining the vehicle-obstacle distance, where the vehicle-obstacle distance is the distance between the vehicle body and the obstacle; determining the vehicle U-turn mode based on the vehicle-obstacle distance and vehicle U-turn related parameters, where 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, a stationary steering U-turn mode, and a non-U-turn mode; and performing a corresponding U-turn action based on the vehicle U-turn mode. The technical solution of the embodiments of this application improves the feasibility and safety of vehicle U-turns, and also maximally maintains the service life of the tires.

Description

Technical Field

[0001] This application relates to the field of automotive electronics technology, and particularly to a vehicle U-turn control method and an intelligent driving controller. Background Art

[0002] With the increasing urban traffic congestion and limited road space, it becomes particularly difficult for a vehicle to make a U-turn when it is in a narrow space, which not only increases the driving difficulty but also may cause traffic accidents.

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

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

[0005] In view of the above-mentioned defects or deficiencies in the prior art, this 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, and at the same time, maximize the service life of the tires.

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

[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 the vehicle U-turn related parameters, determine the vehicle U-turn mode, where 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, a U-turn in place mode, and a non-U-turn mode. The front-wheel steering U-turn mode, the three-wheel steering U-turn mode, the four-wheel steering U-turn mode, and the U-turn in place mode are all U-turnable modes;

[0009] Execute corresponding U-turn actions based on the vehicle U-turn mode.

[0010] According to the technical solution provided by the embodiment of this application, obtaining the vehicle-obstacle distance includes:

[0011] Use the vehicle body millimeter-wave radar to obtain the first distance between the side of the vehicle body and the obstacle and the second distance between the front of the vehicle body and the obstacle. Wherein, if the vehicle makes a U-turn to the left, the first distance is the distance between the left side of the vehicle body and the obstacle; if the vehicle makes a U-turn 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 by the embodiments of the present application, determining the vehicle U-turn mode according to the comparison result further includes:

[0019] If the comparison result is that the vehicle obstacle distance does not meet the first condition and meets the second condition, then determine that the vehicle U-turn mode is 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, where 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 body width, and d = l / 2.

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

[0021] If the comparison result is that the vehicle obstacle distance does not meet the first condition and the second condition and meets the third condition, then determine that the vehicle U-turn mode is the four-wheel steering U-turn mode or the in-place steering U-turn mode, and the four-wheel steering U-turn mode has a higher priority than the in-place steering U-turn mode, where 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 by the embodiments of the present application, determining the vehicle U-turn mode according to the comparison result further includes:

[0023] If the vehicle obstacle distance does not meet the first condition, the second condition, and the third condition and meets the fourth condition, then determine that the vehicle U-turn mode is the in-place steering U-turn mode, where 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 in-place steering U-turn mode, and r4 is the minimum turning radius of the vehicle in the in-place steering U-turn mode.

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

[0025] If the vehicle obstacle distance does not meet the first condition, the second condition, the third condition, and the fourth condition, then determine that the vehicle U-turn mode is the non-U-turn mode.

[0026] Based on the technical solution provided by the embodiment of the present application, performing a corresponding U-turn action based on the vehicle U-turn mode, including:

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

[0028] Receiving an instruction from the user to confirm the execution of the vehicle U-turn mode and performing the corresponding U-turn action.

[0029] In a second aspect, an embodiment of the present application provides an intelligent driving controller, including a processor and a memory; the processor is configured 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 vehicle-obstacle distance, where the vehicle-obstacle distance is the distance between the vehicle body and the obstacle; determining the vehicle U-turn mode based on the vehicle-obstacle distance and vehicle U-turn related parameters, where 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, a in-place 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-place steering U-turn mode are all U-turnable modes; performing 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 way, the feasibility of the vehicle U-turn is improved. The vehicle can perform an adaptive U-turn based on the vehicle U-turn mode, the distance recognition during the U-turn process is more accurate, and the U-turn action is also safer, improving the safety of the vehicle U-turn and the passenger experience. 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-place U-turn strategy is avoided, protecting the service life of the vehicle tires. Description of the Drawings

[0031] Figure 1 It is a flowchart of a vehicle U-turn control method provided by an embodiment of the present application;

[0032] Figure 2 It is a flowchart of a U-turn action execution strategy provided by an embodiment of the present application;

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

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

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

[0036] Figure 6 Schematic diagram of a vehicle in an in-situ steering and turning-around mode provided by an embodiment of the present application;

[0037] Figure 7 Schematic diagram of the structure of a vehicle turning-around control device provided by an embodiment of the present application;

[0038] Figure 8 Schematic diagram of the structure of an intelligent driving controller provided by an embodiment of the present application. Detailed implementation manners

[0039] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related invention and are not intended to limit the invention. Additionally, it should be noted that, for the sake of description, only the parts related to the invention are shown in the drawings.

[0040] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and embodiments.

[0041] As mentioned in the background art, in view of the problems in the prior art, the present application proposes a vehicle turning-around control method. This embodiment is applicable to the situation where a vehicle needs to turn around. This method can be executed by a vehicle turning-around control device, which can be implemented in a software and / or hardware manner and can be configured in an intelligent driving controller. Figure 1 Schematic flow diagram of a vehicle turning-around control method provided by an embodiment of the present application, as Figure 1 shown, the method includes:

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

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

[0044] Preferably, obtaining the distance between the vehicle and obstacles in this embodiment may include: using the millimeter-wave radar on the vehicle body to obtain the first distance between the side of the vehicle body and the obstacle and the second distance between the front of the vehicle body and the obstacle. Among them, if the vehicle makes a U-turn to the left, the first distance is the distance between the left side of the vehicle body and the obstacle; if the vehicle makes a U-turn to the right, the first distance is the distance between the right side of the vehicle body and the obstacle. In this embodiment, using the millimeter-wave radar to obtain the distance between the vehicle and obstacles makes the recognition result of the distance between the vehicle and obstacles more accurate, which can ensure the safety of the vehicle during U-turn. In addition, only by using the distances between the side of the vehicle body, the front of the vehicle body and the obstacle can it be determined whether the vehicle can make a U-turn, improving the efficiency of automatic U-turn. Exemplarily, when the vehicle makes a U-turn to the left, the millimeter-wave radar on the left side of the vehicle body can be used to obtain the first distance between the left side of the vehicle body and the obstacle and the millimeter-wave radar on the front of the vehicle body can be used to obtain the second distance between the front of the vehicle body and the obstacle; when the vehicle makes a U-turn to the right, the millimeter-wave radar on the right side of the vehicle body can be used to obtain the first distance between the right side of the vehicle body and the obstacle and the millimeter-wave radar on the front of the vehicle body can be used to obtain the second distance between the front of the vehicle body and the obstacle. It can be understood that the U-turn direction of the vehicle can be set by the user or determined automatically by the vehicle according to the road conditions, and no special limitation is made here.

[0045] S120. Determine a vehicle U-turn mode based on the vehicle obstacle spacing and vehicle U-turn related parameters, where 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, a spot-turn U-turn mode, and a non-U-turn mode. The front-wheel steering U-turn mode, the three-wheel steering U-turn mode, the four-wheel steering U-turn mode, and the spot-turn U-turn mode are all U-turnable modes.

[0046] Among them, the vehicle U-turn related parameters are parameters that affect 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 body width, the minimum turning radius of the vehicle, and the maximum wheel turning angle, etc. The front-wheel steering U-turn mode is that the four wheels work at the same speed, and the two front wheels are steered and driven in the turning direction. Exemplarily, when the vehicle makes a left U-turn, in the front-wheel steering U-turn mode, the four wheels work at the same speed, and the two front wheels are steered and driven to the left. The three-wheel steering U-turn mode is that the two front wheels are steered and driven in the turning direction at the same speed, the rear wheels on the same side of the turning direction go 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 makes a left U-turn, in the three-wheel steering U-turn mode, the two front wheels are steered and driven to the left at the same speed, the left rear wheel goes straight at the same speed in the opposite direction of the front wheels, 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 steered and driven in the turning direction, and the two rear wheels are steered and driven in the opposite direction. Exemplarily, when the vehicle makes a left U-turn, in the four-wheel steering U-turn mode, the four wheels work at the same speed, the two front wheels are steered and driven to the left, and the two rear wheels are steered and driven to the right. The spot-turn U-turn mode is that the four wheels work at the same speed, the front wheels on the opposite side of the turning direction and the rear wheels on the same side of the turning direction are steered and driven in the turning direction, the front wheels on the same side of the turning direction and the rear wheels on the opposite side of the turning direction are steered and driven in the opposite direction, the rotation directions of the front wheels on the same side of the turning direction and the rear wheels on the same side of the turning direction are the same, both are driving backward, and the rotation directions of the front wheels on the opposite side of the turning direction and the rear wheels on the opposite side of the turning direction are the same, both are driving forward. Exemplarily, when the vehicle makes a left U-turn, in the spot-turn U-turn mode, the four wheels work at the same speed, the right front wheel and the left rear wheel are steered and driven to the left, the left front wheel and the right rear wheel are steered and driven to the right, the rotation directions of the left front wheel and the left rear wheel are the same, both are driving backward, and the rotation directions of the right front wheel and the right rear wheel are the same, both are driving forward. The non-U-turn mode is to determine 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, based on the vehicle obstacle distance and vehicle U-turn related parameters, determining the vehicle U-turn mode 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 obstacle distance with the U-turn thresholds corresponding to different U-turn modes, and determining the vehicle U-turn mode according to the comparison result. Determining the vehicle U-turn mode through the preset U-turn thresholds can improve the accuracy of the vehicle U-turn judgment process and further ensure the safety and feasibility of vehicle U-turns.

[0048] The U-turn threshold in this embodiment is the distance value between the vehicle and the obstacle corresponding to the vehicle just being able to complete the U-turn action in the current U-turn mode. Specifically, if it is monitored that the distance between the vehicle and the obstacle is 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, the U-turn thresholds corresponding to different U-turn modes are also different.

[0049] S130. Perform corresponding U-turn actions based on the vehicle U-turn mode.

[0050] Optionally, performing corresponding U-turn actions based on the vehicle U-turn mode may include: feeding back the vehicle U-turn mode to the user; receiving the instruction from the user to confirm the execution of the vehicle U-turn mode and performing the corresponding U-turn actions. Performing a U-turn after user confirmation in the above manner can further increase the safety of vehicle U-turns. Performing corresponding U-turn actions based on the vehicle U-turn mode may also include: the vehicle automatically performing corresponding U-turn actions based on the vehicle U-turn mode without interacting with the user, which can enhance the user experience. Performing corresponding U-turn actions 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 It is a schematic flowchart of a U-turn action execution strategy provided by an embodiment of the present application, as Figure 2As shown, the user can turn on the vehicle U-turn switch with one key through the in-vehicle terminal (the in-vehicle terminal can be, for example, the central control screen). The intelligent driving controller receives the vehicle U-turn instruction sent by the user, controls the millimeter-wave radar to obtain the vehicle-obstacle distance, and determines the vehicle U-turn mode based on the vehicle-obstacle distance. If the vehicle U-turn mode is one of the available U-turn modes, it is fed back to the user and it is determined whether the user manually clicks the confirm U-turn button through the in-vehicle terminal. If it is determined that the user manually clicks the confirm U-turn button, the vehicle starts to perform the actions corresponding to the determined vehicle U-turn mode. After the vehicle completes the corresponding U-turn action, it straightens the vehicle, shifts to the P gear, and waits for the user to take over the vehicle. If it is determined that the user does not manually click the confirm U-turn button, the vehicle does not perform the actions corresponding to the determined vehicle U-turn mode and returns to the initial state of the vehicle. If the vehicle U-turn mode is the non-U-turn mode, the user is prompted that the U-turn action cannot be completed, and the above operations are performed again after the user drives the vehicle to a suitable position.

[0052] The vehicle U-turn control method provided in this embodiment includes: obtaining the vehicle-obstacle distance, where the vehicle-obstacle distance is the distance between the vehicle body and the obstacle; determining the vehicle U-turn mode based on the vehicle-obstacle distance and the vehicle U-turn related parameters, where the vehicle U-turn mode includes one of the front-wheel steering U-turn mode, three-wheel steering U-turn mode, four-wheel steering U-turn mode, in-situ steering U-turn mode, and non-U-turn mode, and the front-wheel steering U-turn mode, three-wheel steering U-turn mode, four-wheel steering U-turn mode, and in-situ steering U-turn mode are all available U-turn modes; performing corresponding U-turn actions 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, the feasibility of vehicle U-turn is improved. The vehicle can adaptively U-turn based on the vehicle U-turn mode, the distance recognition during the U-turn process is more accurate, and the U-turn action is also safer, improving the safety of vehicle U-turn and the passenger experience. 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 is that the vehicle obstacle spacing meets the first condition, determine that the vehicle turning-around mode is one of the front-wheel steering turning-around mode, three-wheel steering turning-around mode, four-wheel steering turning-around mode, and in-place turning-around mode, and the priority of the front-wheel steering turning-around mode is higher than that of the three-wheel steering turning-around mode, the priority of the three-wheel steering turning-around mode is higher than that of the four-wheel steering turning-around mode, and the priority of the four-wheel steering turning-around mode is higher than that of the in-place turning-around 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 the turn-around thresholds in the front-wheel steering turning-around 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 turning-around mode, r1 = L / sinφ1, φ1 is the maximum turning angle of the front wheel on the opposite side of the vehicle turning direction, s1 is the distance from the turning center of the vehicle to the rear wheel on the same side of the turning direction in the front-wheel steering turning-around mode, s1 = L / sinφ2, and φ2 is the maximum turning angle of the front wheel on the same side of the vehicle turning direction;

[0055] Among them, in the front-wheel steering turning-around mode, the four wheels work at the same speed, and the two front wheels are driven to turn in the turning direction; in the three-wheel steering turning-around mode, the two front wheels are driven to turn 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; in the four-wheel steering turning-around mode, the four wheels work at the same speed, the two front wheels are driven to turn in the turning direction, and the two rear wheels are driven to turn in the opposite direction; in the in-place turning-around mode, 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 turn 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 turn in the opposite direction, the turning directions of the front wheel on the same side of the turning direction and the rear wheel on the same side of the turning direction are the same, both are driving backward, and the turning directions 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 the same, both are driving forward. Figure 3 A schematic diagram of a vehicle in the front-wheel steering turning-around mode provided by an embodiment of the present application, Figure 4 A schematic diagram of a vehicle in the three-wheel steering turning-around mode provided by an embodiment of the present application, Figure 5 A schematic diagram of a vehicle in the four-wheel steering turning-around mode provided by an embodiment of the present application, Figure 6 A schematic diagram of a vehicle in the in-place turning-around mode provided by an embodiment of the present application, as Figures 3 - 6 shown, the vehicles are all in the left-turning-around state.

[0056] By comparing the vehicle obstacle spacing with the turn-around thresholds in the front-wheel steering turning-around mode, the above technical solution determines the corresponding turn-around mode under this condition, improves the accuracy of the vehicle turning-around judgment process, and further ensures the safety and feasibility of vehicle turning-around.

[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 achieve a front-wheel steering U-turn, it can also achieve one of the three-wheel steering U-turn mode, four-wheel steering U-turn mode, and in-situ steering U-turn mode. Therefore, when the distance between vehicle obstacles meets the first condition, the vehicle U-turn mode can be one of the front-wheel steering U-turn mode, three-wheel steering U-turn mode, four-wheel steering U-turn mode, and in-situ steering U-turn mode. Also, different U-turn modes have different degrees of tire wear, and the control processes required for different U-turn modes have different levels of complexity. Therefore, different priorities for different U-turn modes can be set according to the degree of tire wear of different U-turn modes and the complexity of the control required by the controller. Specifically, in this embodiment, the front-wheel steering U-turn mode has the lowest degree of tire wear and the lowest complexity of control required by the controller, so its priority is the highest. Followed by the three-wheel steering U-turn mode, then the four-wheel steering U-turn mode. The in-situ steering U-turn mode has the highest degree of tire wear and the highest complexity of control required by the controller, so its priority is the lowest. Correspondingly, in the step of performing 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-vehicle terminal to minimize the tire wear and the complexity of the controller's control on the premise of achieving the vehicle U-turn; it can also feedback all four feasible U-turn modes to the user and mark the priorities for the user to choose, so as to improve the user's driving experience.

[0058] Exemplarily, if the vehicle makes a left U-turn, φ1 is the maximum steering angle of the vehicle's right front wheel, s1 is the distance from the vehicle's steering center in the front-wheel steering U-turn mode to the left rear wheel, and φ2 is the maximum steering angle of the vehicle's left front wheel. If the vehicle makes a right U-turn, φ1 is the maximum steering angle of the vehicle's left front wheel, s1 is the distance from the vehicle's steering center in the front-wheel steering U-turn mode to the right rear wheel, and φ2 is the maximum steering angle of the vehicle's right front wheel.

[0059] Based on the above embodiments, further, determining the vehicle U-turn mode according to the comparison result further includes:

[0060] If the comparison result is that the distance between vehicle obstacles does not meet the first condition but meets the second condition, it is determined that the vehicle U-turn mode is one of the three-wheel steering U-turn mode, four-wheel steering U-turn mode, and in-situ steering U-turn mode, and the priority of the three-wheel steering U-turn mode is higher than that of the four-wheel steering U-turn mode, and the priority of the four-wheel steering U-turn mode is higher than that of the in-situ steering U-turn mode, where 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, and r2 is the minimum turning radius of the vehicle in the three-wheel steering U-turn mode. Let \(l\) be the body width, and \(d = l / 2\).

[0061] By comparing the distance between vehicle obstacles with the turn - around threshold in the three - wheel steering turn - around mode, the corresponding turn - around mode under this condition is determined, improving the accuracy of the vehicle turn - around judgment process and further ensuring the safety and feasibility of vehicle turn - around.

[0062] Based on the above - mentioned embodiments, further, determining the vehicle turn - around mode according to the comparison result further includes:

[0063] If the comparison result shows that the distance between vehicle obstacles does not satisfy the first and second conditions but satisfies the third condition, then determine that the vehicle turn - around mode is the four - wheel steering turn - around mode or the in - place steering turn - around mode, and the four - wheel steering turn - around mode has a higher priority than the in - place steering turn - around mode. Among them, the third condition is \(D>r3 + s2\) and \(W>r3 - L / 2\), where \(r3 + s2\) and \(r3 - L / 2\) are the turn - around thresholds in the four - wheel steering turn - around mode, \(r3\) is the minimum turning radius of the vehicle in the four - wheel steering turn - around mode, \(r3 = L / 2 / \sin\varphi1\), and \(s2\) is the distance from the steering center of the vehicle to the rear wheel on the same side of the turning direction in the four - wheel steering turn - around mode, \(s2 = L / 2 / \sin\varphi2\).

[0064] By comparing the distance between vehicle obstacles with the turn - around threshold in the four - wheel steering turn - around mode, the corresponding turn - around mode under this condition is determined, improving the accuracy of the vehicle turn - around judgment process and further ensuring the safety and feasibility of vehicle turn - around.

[0065] Based on the above - mentioned embodiments, further, determining the vehicle turn - around mode according to the comparison result further includes:

[0066] If the distance between vehicle obstacles does not satisfy the first, second, and third conditions but satisfies the fourth condition, then determine that the vehicle turn - around mode is the in - place steering turn - around mode. Among them, the fourth condition is \(D>r4 - d\) and \(W>r4 - L / 2\), where \(r4 - d\) and \(r4 - L / 2\) are the turn - around thresholds in the in - place steering turn - around mode, and \(r4\) is the minimum turning radius of the vehicle in the in - place steering turn - around mode.

[0067] By comparing the distance between vehicle obstacles with the turn - around threshold in the in - place steering turn - around mode, the corresponding turn - around mode under this condition is determined, improving the accuracy of the vehicle turn - around judgment process and further ensuring the safety and feasibility of vehicle turn - around.

[0068] Based on the above - mentioned embodiments, further, determining the vehicle turn - around mode according to the comparison result further includes:

[0069] If the vehicle obstacle distance does not meet the first condition, the second condition, the third condition, and the fourth condition, it is determined that the vehicle turning mode is a non-turnable mode.

[0070] Figure 7 FIG. 4 is a schematic structural diagram of a vehicle turning control device provided in an embodiment of the present application. The device is disposed in an intelligent driving controller, as Figure 7 shown, the device includes:

[0071] A vehicle obstacle distance acquisition module 710, configured to acquire a vehicle obstacle distance, where the vehicle obstacle distance is the distance between the vehicle body and an obstacle;

[0072] A vehicle turning mode determination module 720, configured to determine a vehicle turning mode based on the vehicle obstacle distance and vehicle turning related parameters, where the vehicle turning mode includes one of a front-wheel steering turning mode, a three-wheel steering turning mode, a four-wheel steering turning mode, a in-situ steering turning mode, and a non-turnable mode, and the front-wheel steering turning mode, the three-wheel steering turning mode, the four-wheel steering turning mode, and the in-situ steering turning mode are all turnable modes;

[0073] A turning action execution module 730, configured to execute a corresponding turning action based on the vehicle turning mode.

[0074] The vehicle turning control device provided in this embodiment includes a vehicle obstacle distance acquisition module, configured to acquire a vehicle obstacle distance, where the vehicle obstacle distance is the distance between the vehicle body and an obstacle; a vehicle turning mode determination module, configured to determine a vehicle turning mode based on the vehicle obstacle distance and vehicle turning related parameters, where the vehicle turning mode includes one of a front-wheel steering turning mode, a three-wheel steering turning mode, a four-wheel steering turning mode, a in-situ steering turning mode, and a non-turnable mode, and the front-wheel steering turning mode, the three-wheel steering turning mode, the four-wheel steering turning mode, and the in-situ steering turning mode are all turnable modes; a turning action execution module, configured to execute a corresponding turning action based on the vehicle turning mode. By acquiring the distance between the vehicle body and the obstacle to determine whether the vehicle can turn and in what way to turn, the feasibility of vehicle turning is improved. The vehicle can adaptively turn based on the vehicle turning mode, the distance recognition during the turning process is more accurate, and the turning action is also safer, improving the safety of vehicle turning and the passenger experience. At the same time, by setting multiple optional turning strategies, the damage to the vehicle tires caused by solely using the in-situ turning strategy is avoided, and the service life of the vehicle tires is protected.

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

[0076] The first distance between the vehicle body side and the obstacle and the second distance between the vehicle body front and the obstacle are obtained by using the vehicle body millimeter-wave radar. Among them, if the vehicle makes a U-turn to the left, the first distance is the distance between the left side of the vehicle body and the obstacle; if the vehicle makes a U-turn to the right, the first distance is the distance between the right side of the vehicle body and the obstacle.

[0077] Based on the above technical solutions, further, the vehicle U-turn mode determination module 720 includes:

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

[0079] A vehicle U-turn mode determination unit, configured 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] Based on the above technical solutions, further, the vehicle U-turn mode determination unit may specifically be configured to:

[0081] If the comparison result is that the vehicle-obstacle distance meets the first condition, it is determined that the vehicle U-turn mode is one of the front-wheel steering U-turn mode, three-wheel steering U-turn mode, four-wheel steering U-turn mode, and in-place 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-place steering U-turn mode. Among them, the first condition is D>r1 + s1 and W>r1 - L, where D is the first distance, W is the second distance, r1 + s1 and r1 - L are the 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 steering angle of the front wheel on the opposite side of the vehicle 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, and φ2 is the maximum steering angle of the front wheel on the same side of the vehicle turning direction;

[0082] Among them, in the front-wheel steering and turning-around mode, the four wheels work at the same speed, and the two front wheels perform steering drive in the turning direction; in the three-wheel steering and turning-around mode, the two front wheels perform steering drive in the turning direction at the same speed, the rear wheel on the same side as the turning direction goes straight at the same speed in the opposite direction to the front wheels, and the rear wheel on the opposite side of the turning direction is in a locked state; in the four-wheel steering and turning-around mode, the four wheels work at the same speed, the two front wheels perform steering drive in the turning direction, and the two rear wheels perform steering drive in the opposite direction; in the in-situ steering and turning-around mode, 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 as the turning direction perform steering drive in the turning direction, the front wheel on the same side as the turning direction and the rear wheel on the opposite side of the turning direction perform steering drive in the opposite direction, the rotation directions of the front wheel on the same side as the turning direction and the rear wheel on the same side as the turning direction are the same, both are driving backward, and the rotation directions 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 the same, both are driving forward.

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

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

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

[0086] If the comparison result is that the vehicle obstacle distance does not meet the first condition and the second condition but meets the third condition, then it is determined that the vehicle turning-around mode is the four-wheel steering and turning-around mode or the in-situ steering and turning-around mode, and the four-wheel steering and turning-around mode has a higher priority than the in-situ steering and turning-around mode, where the third condition is D > r3 + s2 and W > r3 - L / 2, r3 + s2 and r3 - L / 2 are the turnable thresholds in the four-wheel steering and turning-around mode, r3 is the minimum turning radius of the vehicle in the four-wheel steering and turning-around mode, r3 = L / 2 / sinφ1, s2 is the distance from the vehicle steering center to the rear wheel on the same side as the turning direction in the four-wheel steering and turning-around mode, and s2 = L / 2 / sinφ2.

[0087] Based on the above technical solutions, further, the vehicle U-turn mode determination unit may specifically be further configured to:

[0088] If the vehicle obstacle distance does not meet the first condition, the second condition, and the third condition and meets the fourth condition, it is determined that the vehicle U-turn mode is the in-place steering U-turn mode, where 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 in-place steering U-turn mode, and r4 is the minimum turning radius of the vehicle in the in-place steering U-turn mode.

[0089] Based on the above technical solutions, further, the vehicle U-turn mode determination unit may specifically be further configured to:

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

[0091] Based on the above technical solutions, further, the U-turn action execution module 730 may specifically be configured to:

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

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

[0094] The vehicle U-turn control device provided by the embodiments of the present application can execute the steps in the vehicle U-turn control method provided by the method embodiments of the present application, and the implementation steps and beneficial effects are not described herein again.

[0095] Figure 8 It is a schematic structural diagram of an intelligent driving controller provided by an embodiment of the present application. As Figure 8 shown, the intelligent driving controller 300 includes a processor 331 and a memory 332, where the processor 331 may be one or more.

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

[0097] The memory 332 may include one or more computer program products, and the computer program products 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, 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 media, and the processor 331 may call the programs or instructions to implement the vehicle U-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 media.

[0098] In one example, the intelligent driving controller 300 may further include: an input device 333 and an output device 334, and these components are interconnected through 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, and a communication network and its connected remote output devices, etc.

[0099] Of course, for simplicity, Figure 3 only some of the components related to the present application in the intelligent driving controller 300 are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, according to specific application scenarios, the intelligent driving controller 300 may further include any other appropriate components.

[0100] In addition to the above methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, and when the computer program instructions are run by a processor, the processor is caused to execute the steps of the vehicle U-turn control method provided by 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. The programming languages include object-oriented programming languages, such as Java, C++, etc., and also include conventional procedural programming languages, such as the "C" language or similar programming languages. The program codes may be executed entirely on the user computing device, partially on the user device, executed 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, an embodiment of the present application may also be a computer-readable storage medium storing a program or instructions, which cause a computer to execute the steps of the vehicle U-turn control method provided in any embodiment of the present application.

[0103] The computer-readable storage medium may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may, for example, include but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having 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 the present application are only for describing specific embodiments and do not limit the scope of the present application. As shown in the specification and claims of the present application, unless the context clearly indicates otherwise, words such as "a", "an", "one", and / or "the" are not specifically singular and may also include plural. The term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, or device including a series of elements not only includes those elements but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, or device including the element.

[0105] It should also be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present application. Unless otherwise clearly specified and limited, terms such as "installed", "connected", "coupled", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0106] In this text, specific examples are used to illustrate the principles and implementation manners of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application. The above are only the preferred implementation manners of the present application. It should be noted that due to the limited nature of literal expression and objectively infinite specific structures, for those of ordinary skill in the art, without departing from the principles of the present application, several improvements, refinements or changes can be made, or the above technical features can be combined in an appropriate manner; these improvements, refinements, changes or combinations, or directly applying the inventive concept and technical solution to other occasions without improvement, shall all be regarded as the protection scope of the present application.

Claims

1. A vehicle U-turn control method, characterized in that, Including: Obtain the vehicle-obstacle distance, where the vehicle-obstacle distance is the distance between the vehicle body and the obstacle, including: obtaining the first distance between the side of the vehicle body and the obstacle and the second distance between the front of the vehicle body and the obstacle by using the millimeter-wave radar on the vehicle body. If the vehicle makes a U-turn to the left, the first distance is the distance between the left side of the vehicle body and the obstacle; if the vehicle makes a U-turn to the right, the first distance is the distance between the right side of the vehicle body and the obstacle. Based on the vehicle-obstacle distance and the vehicle U-turn related parameters, determine the vehicle U-turn mode, where the vehicle U-turn mode includes one of the front-wheel steering U-turn mode, three-wheel steering U-turn mode, four-wheel steering U-turn mode, in-place steering U-turn mode, and non-U-turn mode. The front-wheel steering U-turn mode, three-wheel steering U-turn mode, four-wheel steering U-turn mode, and in-place steering U-turn mode are all U-turnable modes. Execute corresponding U-turn actions based on the vehicle U-turn mode; based on the vehicle-obstacle distance and the vehicle U-turn related parameters, determine the vehicle U-turn mode, including: Based on the vehicle U-turn related parameters under different U-turnable modes, determine the U-turn thresholds corresponding to different U-turnable modes. Compare the vehicle-obstacle distance with the U-turn thresholds corresponding to different U-turnable modes, and determine the vehicle U-turn mode according to the comparison result. Determine the vehicle U-turn mode according to the comparison result, including: If the comparison result is that the vehicle-obstacle distance meets the first condition, determine that the vehicle U-turn mode is one of the front-wheel steering U-turn mode, three-wheel steering U-turn mode, four-wheel steering U-turn mode, and in-place steering U-turn mode, and the priority of the front-wheel steering U-turn mode is higher than that of the three-wheel steering U-turn mode, the priority of the three-wheel steering U-turn mode is higher than that of the four-wheel steering U-turn mode, and the priority of the four-wheel steering U-turn mode is higher than that of the in-place steering U-turn mode. The first condition is D > r1 + s1 and W > r1 - L, where D is the first distance, W is the second distance, r1 + s1 and r1 - L are the U-turn thresholds under 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 under the front-wheel steering U-turn mode, r1 = L / sinφ1, φ1 is the maximum angle of the front wheel on the opposite side of the vehicle turning direction, s1 is the distance from the steering center of the vehicle to the rear wheel on the same side of the turning direction under the front-wheel steering U-turn mode, s1 = L / sinφ2, and φ2 is the maximum angle of the front wheel on the same side of the vehicle turning direction. Among them, in the front-wheel steering and U-turn mode, the four wheels work at the same speed, and the two front wheels are steered and driven in the turning direction; in the three-wheel steering and U-turn mode, the two front wheels are steered and driven 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 to the front wheels, and the rear wheel on the opposite side of the turning direction is in a locked state; in the four-wheel steering and U-turn mode, the four wheels work at the same speed, the two front wheels are steered and driven in the turning direction, and the two rear wheels are steered and driven in the opposite direction; in the in-place steering and U-turn mode, 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 steered and driven 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 steered and driven in the opposite direction, the rotation directions of the front wheel on the same side of the turning direction and the rear wheel on the same side of the turning direction are the same, both are driving backward, and the rotation directions 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 the same, both are driving forward.

2. The method according to claim 1, characterized in that Determining the vehicle U-turn mode according to the comparison result further includes: If the comparison result is that the vehicle obstacle distance does not meet the first condition but meets the second condition, determine that the vehicle turning mode is one of the three-wheel steering turning mode, the four-wheel steering turning mode, and the in-situ steering turning mode, and the priority of the three-wheel steering turning mode is higher than that of the four-wheel steering turning mode, and the priority of the four-wheel steering turning mode is higher than that of the in-situ steering turning mode, where the second condition is D > r2 - d and W > r2 - L, r2 - d and r2 - L are the turnable thresholds in the three-wheel steering turning mode, r2 is the minimum turning radius of the vehicle in the three-wheel steering turning mode, , l is the vehicle body width, and d = l / 2.

3. The method according to claim 2, characterized in that Determining the vehicle U-turn mode according to the comparison result further includes: If the comparison result is that the vehicle obstacle distance does not meet the first condition and the second condition but meets the third condition, then determine that the vehicle U-turn mode is the four-wheel steering and U-turn mode or the in-place steering and U-turn mode, and the four-wheel steering and U-turn mode has a higher priority than the in-place steering and U-turn mode. Among them, 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 and U-turn mode, r3 is the minimum turning radius of the vehicle in the four-wheel steering and U-turn mode, r3 = L / 2 / sinφ1, s2 is the distance from the vehicle steering center to the rear wheel on the same side of the turning direction in the four-wheel steering and U-turn mode, s2 = L / 2 / sinφ2.

4. The method according to claim 3, wherein Determining the vehicle U-turn mode according to the comparison result further includes: If the vehicle obstacle spacing does not meet the first condition, the second condition, and the third condition but meets the fourth condition, determine that the vehicle turning mode is the in-place steering turning mode, where the fourth condition is D > r4 - d and W > r4 - L / 2, r4 - d and r4 - L / 2 are the turnable thresholds in the in-place steering turning mode, and r4 is the minimum turning radius of the vehicle in the in-place steering turning mode. 。 5. The method according to claim 4, wherein Determining the vehicle U-turn mode according to the comparison result further includes: If the vehicle obstacle distance does not meet the first condition, the second condition, the third condition, and the fourth condition, then determine that the vehicle U-turn mode is the non-U-turn mode.

6. The method according to claim 4, characterized in that Performing corresponding U-turn actions based on the vehicle U-turn mode, including: Feeding back the vehicle U-turn mode to the user; Receiving the instruction from the user to confirm the execution of the vehicle U-turn mode and performing the corresponding U-turn actions.

7. An intelligent driving controller, characterized in that, It includes a processor and a memory; the processor is used to execute the steps of the vehicle U-turn control method according to any one of claims 1 to 6 by calling the program or instruction stored in the memory.

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