Method and device for controlling vehicle to enter hub rotating mode, electronic equipment and storage medium

Abstract

The invention provides a method and device for controlling a vehicle to enter a hub rotating mode, electronic equipment and a storage medium, and belongs to the technical field of automobile test control, and the method comprises the steps that an ignition system IGN of a target vehicle is controlled to be powered on; when it is determined that the vehicle door of the target vehicle is opened and the main driving safety belt is tied, an ESC OFF switch lamp is controlled to be turned on, and an instrument ESC OFF indicator lamp is turned on; and if yes, the vehicle door of the target vehicle is controlled to be closed, the main driving safety belt is disconnected, the ESC OFF switch lamp is turned off, the instrument ESC OFF indicator lamp is kept turned on, and the target vehicle enters a hub rotating mode. According to the method, the entering mode of the rotating hub mode is simplified, the TCS function can be prevented from being triggered, and normal vehicle performance testing is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile test control, and in particular to a method, a device, an electronic device and a storage medium for controlling a vehicle to enter a hub-turning mode. Background Art

[0002] At present, the existing technology controls the vehicle to enter the rotating hub mode by updating the software, and the process is relatively complicated. When a new energy vehicle is equipped with a traction control system (TCS), when the vehicle is on the rotating hub and needs to do endurance test, dynamic test, vehicle debugging or other tests that require driving the vehicle, since the rear wheels of the vehicle are fixed and there is no wheel speed output, the front wheels have wheel speed output, thus triggering the TCS function.

[0003] Under normal operating conditions, after the TCS function is triggered, the vehicle will limit torque to ensure vehicle driving safety, and relevant tests will not be able to be carried out; on the rotating hub, when the rear wheels of the vehicle do not rotate, there is no wheel speed, and the front wheels have wheel speed output, after driving for a long time, the control unit detects that there is a continuous difference in the wheel speeds of the front and rear axles, and falsely reports a wheel speed signal failure, causing functional failures such as the Anti-lock Braking System (ABS) and the Electronic Stability Control (ESC). Although the vehicle speed can be increased to the maximum, the energy recovery function cannot be activated and still cannot meet the vehicle endurance test. Summary of the invention

[0004] The present invention provides a method, device, electronic device and storage medium for controlling a vehicle to enter a hub rotating mode, so as to solve the defects of the prior art that the vehicle is controlled to enter a hub rotating mode by updating software, the process is relatively complicated, and after entering the hub rotating mode, the TCS function is easily triggered, thus affecting the vehicle performance test.

[0005] In a first aspect, the present invention provides a method for controlling a vehicle to enter a hub rotation mode, comprising: Control the target vehicle's ignition system IGN to power on; When it is determined that the door of the target vehicle is open and the driver's seat belt is fastened, the ESC OFF switch light is controlled to light up, and the ESC OFF indicator light of the instrument is lit; The door of the target vehicle is controlled to be closed, the driver's seat belt is disconnected, the ESC OFF switch light is turned off, the instrument ESC OFF indicator light remains on, and the target vehicle enters the hub rotation mode.

[0006] In some embodiments, when it is determined that the door of the target vehicle is open and the driver's seat belt is fastened, the ESC OFF switch light is controlled to light up, and before the ESC OFF indicator light of the instrument is lit up, the method further includes: Within a preset time threshold range, determine whether the door of the target vehicle is open and whether the driver's seat belt is fastened.

[0007] In some embodiments, the target vehicle enters a hub-turning mode, including: The torque control function of the traction control system TCS of the target vehicle is disabled; Stop detecting the coaxial wheel speed loss fault of the target vehicle.

[0008] In some embodiments, the method further comprises: The ESC OFF switch light is controlled to turn off, the ESC OFF indicator light on the instrument is turned off, and the target vehicle exits the hub rotation mode.

[0009] In some embodiments, the method further comprises: The IGN is controlled to be powered on again, and the target vehicle exits the hub rotation mode.

[0010] In a second aspect, the present invention further provides a device for controlling a vehicle to enter a hub rotation mode, comprising: A first control unit, used for controlling the ignition system IGN of the target vehicle to be powered on; The second control unit is used to control the ESC OFF switch light to light up and the instrument ESC OFF indicator light to light up when it is determined that the door of the target vehicle is open and the driver's seat belt is fastened; The third control unit is used to control the door of the target vehicle to close, the driver's seat belt to disconnect, the ESC OFF switch light to turn off, the instrument ESC OFF indicator light to remain on, and the target vehicle to enter the hub rotation mode.

[0011] In some embodiments, the apparatus further comprises: The judgment unit is used to judge whether the door of the target vehicle is opened and whether the driver's seat belt is fastened within a preset time threshold.

[0012] In a third aspect, the present invention further provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method of controlling a vehicle to enter a hub-turning mode as described in any one of the above is implemented.

[0013] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the methods described above for controlling a vehicle to enter a hub-turning mode.

[0014] In a fifth aspect, the present invention further provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method for controlling a vehicle to enter a hub-turning mode as described in any one of the above is implemented.

[0015] The method, device, electronic device and storage medium for controlling a vehicle to enter a rotating hub mode provided by the present invention control the ignition system IGN of the target vehicle to be powered on, and when it is determined that the door of the target vehicle is open and the driver's seat belt is fastened, control the ESC OFF switch light to light up and the instrument ESC OFF indicator light to light up; control the door of the target vehicle to be closed, the driver's seat belt to be disconnected, the ESC OFF switch light to turn off, and the instrument ESC OFF indicator light to remain lit, and the target vehicle enters the rotating hub mode, which simplifies the method of entering the rotating hub mode and can avoid triggering the TCS function, thereby facilitating normal vehicle performance testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 is a flow chart of a method for controlling a vehicle to enter a hub rotating mode provided by an embodiment of the present invention; Figure 2 is a schematic structural diagram of a device for controlling a vehicle to enter a hub-spinning mode provided by an embodiment of the present invention; Figure 3 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] The terms "first", "second", etc. in this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable under appropriate circumstances, so that the embodiments of the present invention can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0020] Figure 1 FIG. 1 is a flow chart of a method for controlling a vehicle to enter a rotary mode provided by an embodiment of the present invention. Figure 1 As shown, a method for controlling a vehicle to enter a hub rotating mode is provided, comprising the following steps: step 110, step 120, and step 130. The steps of the method flow are only a possible implementation of the present invention.

[0021] Step 110: Control the ignition system IGN of the target vehicle to be powered on.

[0022] Among them, the ignition system (IGN) refers to the system used to ignite the fuel and air mixture in the vehicle engine.

[0023] It should be noted that powering on the ignition system IGN refers to the activation of the power supply of the IGN; this process involves providing power to the IGN so that the IGN can work normally and ignite the fuel mixture.

[0024] Step 120: When it is determined that the door of the target vehicle is open and the driver's seat belt is fastened, the ESC OFF switch light is controlled to light up, and the ESC OFF indicator light of the instrument is controlled to light up.

[0025] Among them, the Electronic Stability Control Off (ESC OFF) switch is a switch used to turn off the Electronic Stability Control System (ESC). In certain driving conditions (such as in snow or mud), turning off ESC can provide greater tire slip for better control of the vehicle.

[0026] Among them, the electronic stability control system ESC includes the traction control system TCS.

[0027] Among them, the instrument ESC OFF indicator light is a warning light on the instrument panel. When the instrument ESC OFF indicator light is on on the instrument panel, it means that the ESC system is not in working condition and the vehicle's stability control function is disabled.

[0028] It should be noted that under normal circumstances, the ESC OFF switch light is on and the instrument ESC OFF indicator light is on, indicating that the ESC is temporarily turned off. Once an abnormal situation occurs, such as the vehicle speed exceeds the preset speed threshold, the ESC automatically restarts and the TCS function is activated, automatically reducing the engine power or applying the brakes to the slipping wheels when necessary to restore traction, affecting vehicle performance tests, such as endurance tests, dynamic tests, vehicle debugging or other tests that require driving the vehicle.

[0029] In some embodiments, when it is determined that the door of the target vehicle is open and the driver's seat belt is fastened, the ESC OFF switch light is controlled to light up, and before the ESC OFF indicator light of the instrument is lit up, the method further includes: Within a preset time threshold range, determine whether the door of the target vehicle is open and whether the driver's seat belt is fastened.

[0030] Optionally, the preset time threshold range is determined based on user input or according to empirical data.

[0031] It should be noted that after the ignition system is powered on, the various systems of the vehicle (including seat belts, door sensors, etc.) require a certain amount of time to complete the self-check and initialization process; the preset time threshold can ensure that these systems are stable and ready for status detection to prevent cumulative operations from reaching the function entry conditions.

[0032] Optionally, the ignition system IGN starts timing after power is turned on, and within a preset time threshold range, such as 3 minutes, 4 minutes or 5 minutes, determines whether the door of the target vehicle is open and whether the driver's seat belt is fastened. When it is determined that the door of the target vehicle is open and the driver's seat belt is fastened, the ESC OFF switch light is controlled to light up, and the instrument ESC OFF indicator light is lit.

[0033] Optionally, the timing starts after the ignition system IGN is powered on, and the door is controlled to open and the seat belt is controlled to be fastened within a preset time threshold. When it is determined that the door of the target vehicle is open and the driver's seat belt is fastened, the ESC OFF switch light is controlled to light up, and the instrument ESC OFF indicator light is controlled to light up.

[0034] Step 130: Control the door of the target vehicle to close, the driver's seat belt to disconnect, the ESC OFF switch light to turn off, the instrument ESC OFF indicator light to remain on, and the target vehicle to enter the hub rotation mode.

[0035] Among them, the hub spinning mode refers to the situation where the wheels can rotate freely without being restricted by the engine power or brake system when the vehicle is in a specific state, such as during repair or maintenance. Specifically, the hub spinning mode allows the vehicle tires to rotate smoothly during repair or inspection, helping technicians to more conveniently check and adjust the tires or brake system. In some cases, the hub spinning mode is also used for parking or wheel testing to ensure the normal operation of the tires and suspension system.

[0036] It should be noted that when the vehicle doors are closed and the driver's seat belt is disconnected, the ESC OFF switch light goes out and the instrument ESC OFF indicator light remains on, indicating that ESC is disabled. Even if an abnormal situation occurs, such as the vehicle speed exceeds the preset speed threshold, the ESC will not restart automatically and the TCS function will not start, thereby not affecting the vehicle's performance tests, such as endurance tests, dynamic tests, vehicle debugging or other tests that require the vehicle to be driven.

[0037] It can be understood that by first controlling the ESC OFF switch light to light up and the instrument ESC OFF indicator light to light up after determining that the target vehicle's door is open and the driver's seat belt is fastened; and then controlling the target vehicle's door to close, the driver's seat belt to disconnect, the ESC OFF switch light to turn off, and the instrument ESC OFF indicator light to remain lit, the target vehicle enters the hub turning mode, which appropriately improves the prerequisite for entering the hub turning mode, thereby preventing accidental operation of entering the hub turning mode and improving the safety of the vehicle.

[0038] In some embodiments, the target vehicle enters a hub-turning mode, including: The torque control function of the traction control system TCS of the target vehicle is disabled; Stop detecting the coaxial wheel speed loss fault of the target vehicle.

[0039] It should be noted that the traction control system TCS is usually used to prevent wheel slip and ensure the stability of the vehicle during acceleration. When the vehicle enters the spinning mode, in order to allow the wheels to rotate freely, the torque control function of TCS must be disabled. This is because in the spinning mode, the wheels need to rotate without restriction, and any torque control intervention may hinder this process.

[0040] It should be noted that in normal driving mode, the vehicle will constantly monitor the wheel speed to detect whether there is a loss or mismatch in vehicle wheel speed (for example, due to slippage or system failure). When entering the hub spinning mode, this monitoring needs to be stopped because the behavior of the wheel in this mode does not meet the expectations of normal driving (for example, it may be deliberately spinning freely on the ground). Stopping this fault detection can avoid false alarms or unnecessary warnings and ensure the normal operation of the system in this special state.

[0041] It can be understood that when the target vehicle enters the hub spinning mode, the torque control function of the traction control system TCS is disabled and the detection of the coaxial wheel speed loss fault of the target vehicle is stopped, which can ensure that the system will not make unnecessary interventions on the abnormal state of the wheels when the vehicle is repaired, inspected or other situations require the wheels to rotate freely, making the operation of the vehicle in the hub spinning mode more flexible and efficient, while avoiding possible misoperation or warnings caused by system intervention.

[0042] In an embodiment of the present invention, by controlling the ignition system IGN of the target vehicle to power on, when it is determined that the door of the target vehicle is open and the driver's seat belt is fastened, the ESC OFF switch light is controlled to light up, and the instrument ESC OFF indicator light is controlled to light up; the door of the target vehicle is controlled to be closed, the driver's seat belt is disconnected, the ESC OFF switch light is turned off, and the instrument ESC OFF indicator light remains lit, and the target vehicle enters the hub rotation mode, which simplifies the method of entering the hub rotation mode and can avoid triggering the TCS function, which is conducive to normal vehicle performance testing.

[0043] In some embodiments, the method further comprises: The ESC OFF switch light is controlled to turn off, the ESC OFF indicator light on the instrument is turned off, and the target vehicle exits the hub rotation mode.

[0044] It should be noted that the ESC OFF switch light is off and the instrument ESC OFF indicator light is off, indicating that the ESC is turned on normally.

[0045] Optionally, after the vehicle performance test is completed, the ESC OFF switch light is controlled to go out, the instrument ESC OFF indicator light is turned off, the target vehicle is controlled to exit the hub mode, the TCS function is restored, and the wheel speed monitoring system is reactivated, thereby ensuring that the vehicle returns to normal driving mode and ensuring the stability and safety of the system.

[0046] In some embodiments, the method further comprises: The IGN is controlled to be powered on again, and the target vehicle exits the hub rotation mode.

[0047] Optionally, the power supply is restored after the IGN is disconnected.

[0048] It should be noted that the system will restart after power is restored, and the vehicle will be switched back from the rotary hub mode to the normal driving mode, restoring the TCS function and wheel speed detection.

[0049] The following is a description of a device for controlling a vehicle to enter a hub rotating mode provided by an embodiment of the present invention. The device for controlling a vehicle to enter a hub rotating mode described below and the method for controlling a vehicle to enter a hub rotating mode described above can be referred to each other.

[0050] Figure 2 A schematic diagram of the structure of a device for controlling a vehicle to enter a rotating hub mode provided by an embodiment of the present invention, as shown in FIG. Figure 2 As shown, the device 200 for controlling a vehicle to enter a hub-spinning mode includes: A first control unit 210 is used to control the ignition system IGN of the target vehicle to be powered on; The second control unit 220 is used to control the ESC OFF switch light to light up and the instrument ESC OFF indicator light to light up when it is determined that the door of the target vehicle is open and the driver's seat belt is fastened; The third control unit 230 is used to control the door of the target vehicle to close, the driver's seat belt to disconnect, the ESC OFF switch light to turn off, the instrument ESC OFF indicator light to remain on, and the target vehicle to enter the hub rotation mode.

[0051] In some embodiments, the device 200 for controlling the vehicle to enter the hub-spinning mode further includes: The judgment unit is used to judge whether the door of the target vehicle is opened and whether the driver's seat belt is fastened within a preset time threshold.

[0052] In some embodiments, the target vehicle enters a hub-turning mode, including: The torque control function of the traction control system TCS of the target vehicle is disabled; Stop detecting the coaxial wheel speed loss fault of the target vehicle.

[0053] In some embodiments, the device 200 for controlling the vehicle to enter the hub-spinning mode further includes: The fourth control unit is used to control the ESC OFF switch light to turn off, the instrument ESC OFF indicator light to turn off, and the target vehicle to exit the hub rotation mode.

[0054] In some embodiments, the device for controlling the vehicle to enter the hub-spinning mode further comprises: The fifth control unit controls the IGN to be powered on again, and the target vehicle exits the hub rotation mode.

[0055] It should be noted here that the device for controlling a vehicle to enter a hub rotating mode provided in an embodiment of the present invention can implement all the method steps implemented in the above-mentioned method embodiment for controlling a vehicle to enter a hub rotating mode, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as those of the method embodiment will not be described in detail here.

[0056] Figure 3 A schematic diagram of the physical structure of an electronic device provided by an embodiment of the present invention, such as Figure 3As shown, the electronic device may include: a processor 310, a communication interface 320, a memory 330 and a communication bus 340, wherein the processor 310, the communication interface 320 and the memory 330 complete mutual communication through the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute a method for controlling a vehicle to enter a hub-turning mode, the method comprising: controlling the ignition system IGN of the target vehicle to be powered on; in a state where it is determined that the door of the target vehicle is open and the main driver's seat belt is fastened, controlling the ESC OFF switch light to light up and the instrument ESC OFF indicator light to light up; controlling the door of the target vehicle to close, the main driver's seat belt to be disconnected, the ESC OFF switch light to turn off, the instrument ESC OFF indicator light to remain lit, and the target vehicle enters the hub-turning mode.

[0057] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0058] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the method provided by the above methods for controlling the vehicle to enter the hub rotation mode, which method includes: controlling the ignition system IGN of the target vehicle to power on; when it is determined that the door of the target vehicle is open and the driver's seat belt is fastened, controlling the ESC OFF switch light to light up and the instrument ESC OFF indicator light to light up; controlling the door of the target vehicle to close, the driver's seat belt to disconnect, the ESC OFF switch light to turn off, and the instrument ESC OFF indicator light to remain lit, and the target vehicle enters the hub rotation mode.

[0059] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the method provided by the above-mentioned methods for controlling a vehicle to enter a hub-turning mode, the method comprising: controlling the ignition system IGN of the target vehicle to be powered on; when it is determined that the door of the target vehicle is open and the driver's seat belt is fastened, controlling the ESC OFF switch light to light up and the instrument ESC OFF indicator light to light up; controlling the door of the target vehicle to close, the driver's seat belt to be disconnected, the ESC OFF switch light to turn off, the instrument ESC OFF indicator light to remain lit, and the target vehicle enters the hub-turning mode.

[0060] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0061] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling a vehicle to enter a hub-turning mode, characterized in that: include: Control the target vehicle's ignition system IGN to power on; When it is determined that the door of the target vehicle is open and the driver's seat belt is fastened, the ESC OFF switch light is controlled to light up, and the ESC OFF indicator light of the instrument is lit; The door of the target vehicle is controlled to be closed, the driver's seat belt is disconnected, the ESC OFF switch light is turned off, the instrument ESC OFF indicator light remains on, and the target vehicle enters the hub rotation mode.

2. The method for controlling a vehicle to enter a rotating hub mode according to claim 1, characterized in that: The method of controlling the ESC OFF switch light to light up when it is determined that the door of the target vehicle is open and the driver's seat belt is fastened, and before the ESC OFF indicator light of the instrument is lit up, further includes: Within a preset time threshold range, determine whether the door of the target vehicle is open and whether the driver's seat belt is fastened.

3. The method for controlling a vehicle to enter a rotating hub mode according to claim 1, characterized in that: The target vehicle enters a hub rotation mode, including: The torque control function of the traction control system TCS of the target vehicle is disabled; Stop detecting the coaxial wheel speed loss fault of the target vehicle.

4. The method for controlling a vehicle to enter a rotating hub mode according to claim 1, characterized in that: The method further comprises: The ESC OFF switch light is controlled to turn off, the ESC OFF indicator light on the instrument is turned off, and the target vehicle exits the hub rotation mode.

5. The method for controlling a vehicle to enter a rotating hub mode according to claim 1, characterized in that: The method further comprises: The IGN is controlled to be powered on again, and the target vehicle exits the hub rotation mode.

6. A device for controlling a vehicle to enter a hub-turning mode, characterized in that: include: A first control unit, used for controlling the ignition system IGN of the target vehicle to be powered on; The second control unit is used to control the ESC OFF switch light to light up and the ESC OFF indicator light on the instrument panel to light up when it is determined that the door of the target vehicle is open and the driver's seat belt is fastened; The third control unit is used to control the door of the target vehicle to close, the driver's seat belt to disconnect, the ESCOFF switch light to turn off, the instrument ESC OFF indicator light to remain on, and the target vehicle to enter the hub rotation mode.

7. The device for controlling a vehicle to enter a rotating hub mode according to claim 6, characterized in that: The device also includes: The judgment unit is used to judge whether the door of the target vehicle is opened and whether the driver's seat belt is fastened within a preset time threshold.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method for controlling a vehicle to enter a hub-turning mode as claimed in any one of claims 1 to 5 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for controlling a vehicle to enter a hub-turning mode according to any one of claims 1 to 5 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for controlling a vehicle to enter a hub-turning mode according to any one of claims 1 to 5 is implemented.

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