Vehicle turning control method and device, vehicle, computer equipment and storage medium

Abstract

The invention relates to the technical field of vehicle turning, and discloses a vehicle turning control method and device, a vehicle, computer equipment and a storage medium. First, an inner wheel and an outer wheel of the vehicle are determined in a case where current driving data of the vehicle satisfy a steering activation condition. Then, based on the vehicle speed of the vehicle, a braking force corresponding to an inner wheel and a driving force corresponding to an outer wheel are determined. And finally, turning control is conducted on wheels on the inner side of the vehicle based on the braking force, turning control is conducted on wheels on the outer side of the vehicle based on the driving force, the turning performance of the vehicle is optimized, the current turning diameter of the vehicle is smaller than the preset turning diameter, the safety of the vehicle is improved, and the risk of traffic accidents is reduced. And the road traffic capacity and the traffic transportation efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle turning technology, and in particular to a vehicle turning control method, device, vehicle, computer equipment and storage medium. Background Art

[0002] Cars have become an important means of transportation, but with urbanization and population growth, urban roads are seriously congested. In order to improve road traffic efficiency, it is necessary to reduce the turning diameter of cars.

[0003] In the related art, it is determined whether the vehicle meets the activation conditions, and the target speed difference is calculated according to the steering wheel angle and the wheel state. According to the in-situ turning direction, wheel adhesion coefficient and system capacity limitation, the vehicle is controlled to achieve a smooth in-situ turning, thereby reducing the turning diameter. However, the method in the related art needs to be improved. Summary of the invention

[0004] The embodiments of this specification are intended to solve at least one of the technical problems in the related art to a certain extent. To this end, the embodiments of this specification propose a vehicle turning control method, device, vehicle, computer equipment and storage medium.

[0005] The present specification provides a vehicle turning control method, the method comprising:

[0006] When the current driving data of the vehicle satisfies the steering activation condition, determining the inner wheel and the outer wheel of the vehicle;

[0007] Determining a braking force corresponding to the inner wheel and a driving force corresponding to the outer wheel based on the vehicle speed;

[0008] The inner wheels of the vehicle are controlled to turn based on the braking force, and the outer wheels of the vehicle are controlled to turn based on the driving force, so that the current turning diameter of the vehicle is smaller than a preset turning diameter.

[0009] In one embodiment, the method further includes: in the process of controlling the turning of the inner wheels of the vehicle based on the braking force and controlling the turning of the outer wheels of the vehicle based on the driving force, recovering the generated kinetic energy and converting it into electrical energy.

[0010] In one embodiment, the current driving data of the vehicle includes the vehicle speed and the vehicle steering wheel angle parameter, and the current driving data of the vehicle satisfies the steering activation condition including: the vehicle speed is within a preset range and the vehicle steering wheel angle parameter is not less than a steering threshold.

[0011] In one embodiment, determining the inner wheel and the outer wheel of the vehicle includes:

[0012] Based on the steering wheel angle parameter, an inner wheel and an outer wheel of the vehicle are determined.

[0013] In one embodiment, determining the braking force corresponding to the inner wheel and the driving force corresponding to the outer wheel based on the vehicle speed includes:

[0014] Based on the vehicle speed, the load data corresponding to the inner wheel, and the load data corresponding to the outer wheel, a braking force corresponding to the inner wheel and a driving force corresponding to the outer wheel are determined.

[0015] In one embodiment, determining the braking force corresponding to the inner wheel and the driving force corresponding to the outer wheel based on the vehicle speed, the load data corresponding to the inner wheel, and the load data corresponding to the outer wheel includes:

[0016] Performing vector decomposition based on the vehicle speed to determine a braking speed corresponding to the inner wheel and a driving speed corresponding to the outer wheel;

[0017] Determining the braking force corresponding to the inner wheel according to the braking speed corresponding to the inner wheel and the load data corresponding to the inner wheel;

[0018] The driving force corresponding to the outer wheel is determined according to the driving speed corresponding to the outer wheel and the load data corresponding to the outer wheel.

[0019] In one embodiment, the driving speed corresponding to the outer wheel is greater than the braking speed corresponding to the inner wheel.

[0020] In one embodiment, the turning control of the inner wheel of the vehicle based on the braking force and the turning control of the outer wheel of the vehicle based on the driving force include: based on the braking force, controlling the brake to decelerate the inner wheel of the vehicle, and based on the driving force, controlling the motor to accelerate the outer wheel of the vehicle, so that the vehicle turns while the vehicle speed remains unchanged.

[0021] The embodiment of this specification provides a vehicle turning control device, the device comprising:

[0022] An inner and outer wheel determination module, used for determining an inner wheel and an outer wheel of the vehicle when current driving data of the vehicle meets a steering activation condition;

[0023] a wheel power determination module, configured to determine a braking force corresponding to the inner wheel and a driving force corresponding to the outer wheel based on a vehicle speed of the vehicle;

[0024] The turning control module is used to control the turning of the inner wheels of the vehicle based on the braking force, and to control the turning of the outer wheels of the vehicle based on the driving force, so that the current turning diameter of the vehicle is smaller than a preset turning diameter.

[0025] An embodiment of the present specification provides a vehicle, wherein the vehicle includes a brake-by-wire system, and the brake-by-wire system is used to perform the steps of any one of the above methods.

[0026] An embodiment of the present specification provides a computer device, which includes: a memory, and one or more processors communicatively connected to the memory; the memory stores instructions executable by the one or more processors, and the instructions are executed by the one or more processors to enable the one or more processors to implement the steps of the method described in any of the above embodiments.

[0027] The embodiments of this specification provide a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method described in any of the above embodiments are implemented.

[0028] An embodiment of the present specification provides a computer program product, wherein the computer program product includes instructions, and when the instructions are executed by a processor of a computer device, the computer device is enabled to perform the steps of the method described in any one of the above embodiments.

[0029] In the above-mentioned implementation of the specification, first, when the current driving data of the vehicle meets the steering activation condition, the inner wheel and the outer wheel of the vehicle are determined. Then, based on the vehicle speed, the braking force corresponding to the inner wheel and the driving force corresponding to the outer wheel are determined. Finally, the inner wheel of the vehicle is controlled to turn based on the braking force, and the outer wheel of the vehicle is controlled to turn based on the driving force, so as to optimize the turning performance of the vehicle, so that the current turning diameter of the vehicle is smaller than the preset turning diameter, improve the safety of the vehicle, reduce the risk of traffic accidents, and improve the road capacity and transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1a Flowcharts of related technologies provided for implementation of this specification;

[0031] Figure 1b Flowcharts of related technologies provided for implementation of this specification;

[0032] Figure 2a A schematic diagram of a vehicle turning control method provided in an embodiment of this specification;

[0033] Figure 2b A schematic diagram of a vehicle whose current turning diameter is smaller than a preset turning diameter provided in an embodiment of this specification;

[0034] Figure 3 A schematic diagram of an inner wheel and an outer wheel of a vehicle provided for an embodiment of the present specification;

[0035] Figure 4 A schematic diagram of a process for determining the braking force corresponding to the inner wheel and the driving force corresponding to the outer wheel provided in an embodiment of this specification;

[0036] Figure 5 A schematic diagram of a vehicle turning control device provided in an embodiment of this specification;

[0037] Figure 6 An internal structural diagram of a computer device provided for an embodiment of this specification. DETAILED DESCRIPTION

[0038] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0039] Cars have become an indispensable means of transportation in daily life. However, with the acceleration of urbanization and the increase in population, the congestion of urban roads has continued to increase. On busy urban roads, cars often need to make turns, and a larger turning diameter may lead to traffic congestion and reduced road traffic efficiency. Therefore, reducing the minimum turning diameter of cars has become a research topic that has attracted much attention. Reducing the minimum turning diameter can improve the turning flexibility of vehicles in narrow sections, reduce traffic congestion, and improve transportation efficiency. In addition, reducing the minimum turning diameter can also improve the safety of cars and reduce the risk of traffic accidents. In order to meet the needs of urban roads, research on reducing the minimum turning diameter has become an important direction in the field of automotive engineering. By improving the vehicle's suspension system, steering system, and wheel design, the minimum turning diameter can be effectively reduced, thereby improving road traffic capacity and transportation efficiency. At the same time, with the development of new energy vehicles, the endurance of electric vehicles has also become a key point. Therefore, research on energy recovery while reducing the minimum turning diameter has important practical significance.

[0040] For related technologies, see Figure 1aFirst, after detecting that the on-the-spot steering function is turned on, determine whether the preset on-the-spot steering activation conditions are met based on the vehicle's own state. Next, if the vehicle meets the on-the-spot steering activation conditions, the on-the-spot steering direction of the vehicle is determined according to the steering wheel angle. Then, based on the accelerator pedal opening and the actual wheel speed of each wheel, the target speed difference of each wheel is calculated respectively. Finally, based on the on-the-spot steering direction, the target speed difference of each wheel, the adhesion coefficient of each wheel and the preset system capacity limit, the vehicle is controlled to perform on-the-spot steering. Among them, the system capacity limit includes torque limit, speed limit and available power limit. The above implementation method ensures the stability of the vehicle body during on-the-spot steering and reduces the turning diameter.

[0041] For related technologies, see Figure 1b First, when the vehicle's on-the-spot turning conditions are met, for each wheel, the actual rotation speed and target rotation speed of the wheel are obtained, wherein the target rotation speed is determined according to the calibrated wheel rotation speed corresponding to the accelerator pedal opening. Then, the feedforward torque for driving the wheel rotation is determined according to the target rotation speed. And the difference between the target rotation speed and the actual rotation speed is PID controlled to obtain the feedback torque for driving the wheel rotation. Next, the target torque is determined according to the feedforward torque, or the target torque is determined according to the feedforward torque and the feedback torque. Finally, the drive motor corresponding to the wheel is controlled to output the target torque so that the actual rotation speed reaches the target rotation speed. The output torque of the drive motor corresponding to the wheels on the same side of the vehicle has the same torque direction, and the output torque of the drive motor corresponding to the wheels on the opposite sides has opposite torque directions. The above implementation can quickly and stably control the vehicle to turn on the spot.

[0042] Based on this, the embodiment of this specification provides a vehicle turning control method. First, when the current driving data of the vehicle meets the steering activation condition, the inner wheel and the outer wheel of the vehicle are determined. Then, based on the vehicle speed, the braking force corresponding to the inner wheel and the driving force corresponding to the outer wheel are determined. Finally, the inner wheel of the vehicle is controlled to turn based on the braking force, and the outer wheel of the vehicle is controlled to turn based on the driving force, so as to optimize the turning performance of the vehicle so that the current turning diameter of the vehicle is smaller than the preset turning diameter, thereby improving the safety of the vehicle, reducing the risk of traffic accidents, and improving the road capacity and transportation efficiency.

[0043] It should be noted that the vehicle turning control method provided in the embodiments of this specification is applied to a brake-by-wire system. Compared with the traditional hydraulic vacuum assisted braking system, the brake-by-wire system is simple in design and lightweight, which helps to improve the overall braking performance and provides more functions in terms of intelligence. The brake-by-wire system uses differential braking technology to adjust the braking force of the inner and outer wheels when the vehicle turns, thereby achieving minimum turning diameter control. While performing this control, the brake-by-wire system also has an energy recovery function, which improves the endurance, and has a wide range of applications.

[0044] The brake-by-wire system adopts an integrated design, integrating the motor and reducer into a single structure, namely the motor-reducer integrated structure. The above design not only simplifies the system structure and reduces the number of components, but also makes the system lighter and easier to arrange and assemble. The motor-reducer integrated structure is usually installed at the rear of the vehicle and directly connected to the wheels. When the vehicle brakes or the driving speed is reduced, the motor-reducer uses inertia to convert part of the kinetic energy into electrical energy. This process is achieved by adjusting the speed of the motor rotor to generate the required braking torque. The motor not only drives the wheels, but is also responsible for converting the energy generated by braking into electrical energy and storing it in the battery.

[0045] In addition, compared with the traditional hydraulic vacuum assisted braking system, the wire control brake system has obvious advantages in energy consumption. The traditional hydraulic vacuum assisted braking system requires a vacuum pump to generate auxiliary braking force, which consumes additional energy. The wire control brake system does not need to rely on a vacuum pump, which reduces energy consumption. In addition, the wire control brake system also has an energy recovery function, which can convert the released kinetic energy into electrical energy during braking and store it in the battery, thereby increasing the cruising range of new energy vehicles.

[0046] The brake-by-wire system has superior performance, with faster response speed and more precise braking force control capabilities. The brake-by-wire system reacts to cornering braking in less than 150 milliseconds, significantly faster than traditional braking systems. This rapid response capability makes it perform better in scenarios with high requirements for braking performance, such as autonomous driving. In addition, the brake-by-wire system uses sensors and intelligent control algorithms to monitor vehicle status and driver behavior in real time, and accurately adjust the braking force and wheel cylinder pressure according to actual needs, thereby significantly improving driving safety.

[0047] This specification provides a vehicle turning control method. Figure 2a , the method may include the following steps:

[0048] S210: When the current driving data of the vehicle satisfies the steering activation condition, determine the inner wheel and the outer wheel of the vehicle.

[0049] S220: Determine the braking force corresponding to the inner wheel and the driving force corresponding to the outer wheel based on the vehicle speed.

[0050] S230: Control the turning of the inner wheels of the vehicle based on the braking force, and control the turning of the outer wheels of the vehicle based on the driving force, so that the current turning diameter of the vehicle is smaller than the preset turning diameter.

[0051] Specifically, when the vehicle leaves the factory, the preset turning radius diameter is set based on the vehicle's design parameters and standard driving conditions. This setting provides an ideal turning diameter value to ensure that the vehicle can turn smoothly under normal driving conditions. First, when the vehicle's current driving state meets the steering activation conditions (such as speed, steering angle, etc.), the vehicle's driving data is monitored in real time through sensors, and the vehicle's inner and outer wheels are identified based on the monitored data. Next, based on the vehicle's real-time speed and turning requirements, the braking force of the inner wheel and the driving force of the outer wheel are calculated. Applying appropriate braking force to the inner wheel helps reduce wheel slip and ensures that the vehicle remains stable when turning. Applying additional driving force to the outer wheel enhances the vehicle's power support and ensures that the vehicle can smoothly pass the turn. Through the above-mentioned adjustment mechanism, the vehicle's actual turning diameter can be effectively controlled to be smaller than the preset turning diameter to improve the safety and handling of the turn. For example, please refer to Figure 2b , the vehicle's current turning diameter 204 is smaller than the preset turning diameter 202 .

[0052] In the above implementation, first, when the current driving data of the vehicle meets the steering activation condition, the inner wheel and the outer wheel of the vehicle are determined. Then, based on the vehicle speed, the braking force corresponding to the inner wheel and the driving force corresponding to the outer wheel are determined. Finally, the inner wheel of the vehicle is controlled to turn based on the braking force, and the outer wheel of the vehicle is controlled to turn based on the driving force, so as to optimize the turning performance of the vehicle, so that the current turning diameter of the vehicle is smaller than the preset turning diameter, improve the safety of the vehicle, reduce the risk of traffic accidents, and improve the road capacity and transportation efficiency.

[0053] In some embodiments, the method may further include: in the process of controlling the turning of the inner wheels of the vehicle based on the braking force and controlling the turning of the outer wheels of the vehicle based on the driving force, recovering and converting the generated kinetic energy into electrical energy.

[0054] Specifically, when the vehicle turns, in order to improve turning stability and handling, braking force is applied to the inner wheels of the vehicle. This is done by applying brakes to the inner wheels to increase friction and help the vehicle to better follow the turning trajectory. In conjunction with the braking force, a driving force is also applied to the outer wheels. This is to ensure that the vehicle can successfully complete the turn and maintain good driving stability when turning. In the above-mentioned process of controlling the vehicle, the wire control brake system participates in the entire process and generates kinetic energy, and then the wire control brake system converts the generated kinetic energy into electrical energy through its regenerative braking technology. The converted electrical energy will be transmitted to the vehicle's battery for storage. In this way, not only the energy generated during the turning process is effectively recovered, but also the energy utilization efficiency of the vehicle is improved.

[0055] In the above-mentioned embodiment, in the process of controlling the turning of the inner wheels of the vehicle based on the braking force and the turning of the outer wheels of the vehicle based on the driving force, the kinetic energy generated is recovered and converted into electrical energy, which not only helps to improve the overall energy efficiency of the vehicle, but also reduces energy consumption and improves the vehicle's endurance.

[0056] In some embodiments, the vehicle's current driving data includes the vehicle's speed and the vehicle's steering wheel angle parameter, and the vehicle's current driving data satisfying the steering activation condition may include: the vehicle's speed is within a preset range and the vehicle's steering wheel angle parameter is not less than a steering threshold.

[0057] Specifically, the current speed of the vehicle is compared with a preset range. The preset range may be a speed interval for activating the steering assist function, for example, the preset range of the vehicle may be between -15 km / h and 15 km / h. Detect whether the steering wheel angle parameter reaches or exceeds a preset steering threshold. The steering threshold may be a set angle, for example, the steering threshold may be 270 degrees. If it is determined that the vehicle speed is within the preset range and the steering wheel angle parameter is not less than the steering threshold, it is determined that the vehicle meets the steering activation condition.

[0058] In some embodiments, determining the inner wheel and the outer wheel of the vehicle may include: determining the inner wheel and the outer wheel of the vehicle based on a steering wheel angle parameter.

[0059] Specifically, whether the vehicle is reversing or moving forward, the steering wheel angle sensor obtains the steering wheel angle parameter, which reflects the driver's steering intention and amplitude. By analyzing the steering wheel angle parameter, the vehicle's driving trajectory is determined, thereby determining the inner and outer wheels of the vehicle.

[0060] For example, see Figure 3, when the vehicle turns left while moving forward, the left wheel is located on the inside of the vehicle turn, and the right wheel is located on the outside of the turn. At this time, the inside wheel is the left wheel, and the outside wheel is the right wheel.

[0061] In the above implementation, the inner wheel and the outer wheel of the vehicle are determined based on the steering wheel angle parameter, which provides a basis for subsequently determining the control force corresponding to the wheels on different sides.

[0062] In some embodiments, determining the braking force corresponding to the inner wheel and the driving force corresponding to the outer wheel based on the vehicle speed may include: determining the braking force corresponding to the inner wheel and the driving force corresponding to the outer wheel based on the vehicle speed, the load data corresponding to the inner wheel and the load data corresponding to the outer wheel.

[0063] Specifically, the dynamic model of the vehicle is established, which may include a two-degree-of-freedom model of the vehicle, taking into account the yaw motion and lateral motion of the vehicle. The load data corresponding to the inner wheel and the outer wheel reflect the weight distribution of the vehicle under different working conditions. Based on the load data corresponding to the inner wheel and the load data corresponding to the outer wheel and the vehicle speed, the braking force required by the inner wheel and the driving force required by the outer wheel are calculated through the dynamic model of the vehicle and the tire model (such as the tire mechanics model).

[0064] In the above implementation, the braking force corresponding to the inner wheel and the driving force corresponding to the outer wheel are determined based on the vehicle speed, the load data corresponding to the inner wheel, and the load data corresponding to the outer wheel, and the control power applied by the wheel is distributed according to the axle load data to avoid wheel locking, ensure smooth driving of the vehicle, prevent setbacks, and maintain good braking comfort.

[0065] In some embodiments, see Figure 4 , based on the vehicle speed, the load data corresponding to the inner wheel, and the load data corresponding to the outer wheel, determining the braking force corresponding to the inner wheel and the driving force corresponding to the outer wheel may include the following steps:

[0066] S410: Perform vector decomposition based on the vehicle speed to determine a braking speed corresponding to the inner wheel and a driving speed corresponding to the outer wheel.

[0067] S420: Determine the braking force corresponding to the inner wheel according to the braking speed corresponding to the inner wheel and the load data corresponding to the inner wheel.

[0068] S430: Determine the driving force corresponding to the outer wheel according to the driving speed corresponding to the outer wheel and the load data corresponding to the outer wheel.

[0069] Specifically, the vehicle parameters are obtained through a speed sensor or other related sensors and the current vehicle speed is determined by calculation. According to the vehicle speed and turning radius, the vehicle speed is vector-decomposed to obtain the braking speed corresponding to the inner wheel and the driving speed corresponding to the outer wheel. The load data corresponding to the inner wheel and the load data corresponding to the outer wheel are obtained through the sensor. The braking force corresponding to the inner wheel is calculated based on the braking speed corresponding to the inner wheel and the load data corresponding to the inner wheel. The driving force corresponding to the outer wheel is calculated based on the driving speed corresponding to the outer wheel and the load data corresponding to the outer wheel.

[0070] For example, the braking force corresponding to the inner wheel and the driving force corresponding to the outer wheel can be calculated according to the two-degree-of-freedom model of the vehicle: the vehicle speed is determined by the following formula:

[0071] (Unit: km / h)

[0072] Among them, the vehicle speed is v, the wheel speed is n, and the wheel diameter is L.

[0073] The vehicle speed is the vector sum of the braking speed corresponding to the inner wheel and the driving speed corresponding to the outer wheel, where the braking speed corresponding to the inner wheel is v1 and the driving speed corresponding to the outer wheel is v2. The vector can be decomposed according to the vehicle two-degree-of-freedom model, and the braking speed corresponding to the inner wheel is v1 and the driving speed corresponding to the outer wheel is v2 using the vehicle speed v.

[0074] According to the initial speed corresponding to the inner wheel and the braking speed corresponding to the inner wheel v1, the braking deceleration a1 required by the inner wheel can be obtained by differentiating the speed. According to the formula F1=m1a1, where the braking deceleration required by the inner wheel is a1 and the load data corresponding to the inner wheel is m1, the braking force F1 corresponding to the inner wheel is obtained.

[0075] According to the initial speed corresponding to the outer wheel and the braking speed corresponding to the outer wheel v2, the braking deceleration a2 required by the outer wheel can be obtained by differentiating the speed. According to the formula F2=m2a2, where the braking deceleration required by the outer wheel is a2 and the load data corresponding to the outer wheel is m2, the driving force F2 corresponding to the outer wheel is obtained.

[0076] In the above embodiment, vector decomposition is performed based on the vehicle speed to determine the braking speed corresponding to the inner wheel and the driving speed corresponding to the outer wheel. The braking force corresponding to the inner wheel is determined based on the braking speed corresponding to the inner wheel and the load data corresponding to the inner wheel. The driving force corresponding to the outer wheel is determined based on the driving speed corresponding to the outer wheel and the load data corresponding to the outer wheel, thereby ensuring that the vehicle remains stable during turning.

[0077] In some embodiments, the driving speed corresponding to the outer wheel is greater than the braking speed corresponding to the inner wheel.

[0078] Specifically, when a vehicle makes a turn, the path lengths traveled by the outer wheel and the inner wheel are different. The outer wheel is located on the outside of the turning path and needs to cover a longer distance than the inner wheel, so it must turn faster when turning. In order to cope with this difference, the outer wheel needs to apply a driving force to provide a driving speed for the outer wheel. Since the path of the inner wheel is shorter, its driving speed is relatively low. In order to maintain stability and prevent slippage, and to keep the speed of the vehicle unchanged, the braking speed of the inner wheel is appropriately decelerated by applying a braking force. Based on the fact that the driving speed corresponding to the outer wheel is greater than the braking speed corresponding to the inner wheel, the diameter of the vehicle is reduced when turning, which improves the overall driving safety and comfort.

[0079] In the above embodiment, the driving speed corresponding to the outer wheel is greater than the braking speed corresponding to the inner wheel, so as to reduce the turning diameter.

[0080] In some embodiments, controlling the turning of the inner wheels of the vehicle based on braking force, and controlling the turning of the outer wheels of the vehicle based on driving force, can include: based on the braking force, controlling the brake to decelerate the inner wheels of the vehicle, and based on the driving force, controlling the motor to accelerate the outer wheels of the vehicle, so that the vehicle turns while keeping the vehicle speed unchanged.

[0081] Specifically, during the vehicle turning process, the inner wheel and the outer wheel are first determined based on the current vehicle speed and steering requirements. After the inner wheel and the outer wheel are determined, the brake force is applied to the brake by the wire control system to control the brake to brake the wheel, so that the inner wheel slows down. At the same time, the wire control system controls the motor to increase the speed based on the driving force, driving the outer wheel of the vehicle to accelerate. In this way, the coordination of deceleration of the inner wheel and acceleration of the outer wheel is achieved, the turning performance of the vehicle is optimized, and the driving speed of the vehicle during the turning process is ensured to be consistent with that before the control is applied, so that the vehicle can turn while the vehicle speed remains unchanged, so as to achieve the purpose of reducing the minimum turning diameter and improve stability and handling.

[0082] In the above embodiment, based on the braking force, the brake is controlled to decelerate the inner wheels of the vehicle, and based on the driving force, the motor is controlled to accelerate the outer wheels of the vehicle, so that the vehicle can turn while keeping the vehicle speed unchanged, thereby improving the stability and controllability of the vehicle when turning and enhancing driving safety.

[0083] This specification provides a vehicle turning control device 500, see Figure 5 The vehicle turning control device 500 includes: an inner and outer wheel determination module 510, a wheel power determination module 520, and a turning control module 530.

[0084] The inner and outer wheel determination module 510 is used to determine the inner and outer wheels of the vehicle when the current driving data of the vehicle meets the steering activation condition;

[0085] A wheel power determination module 520, configured to determine a braking force corresponding to the inner wheel and a driving force corresponding to the outer wheel based on the vehicle speed;

[0086] The turning control module 530 is used to control the turning of the inner wheels of the vehicle based on the braking force, and to control the turning of the outer wheels of the vehicle based on the driving force, so that the current turning diameter of the vehicle is smaller than a preset turning diameter.

[0087] For a detailed description of the vehicle turning control device, please refer to the description of the vehicle turning control method above, which will not be repeated here.

[0088] An embodiment of the present specification provides a vehicle, wherein the vehicle includes a brake-by-wire system, and the brake-by-wire system is used to perform the steps of any one of the above methods.

[0089] An embodiment of the present specification provides a computer device, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the method steps in the above embodiment are implemented.

[0090] An embodiment of the present specification provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method in any of the above embodiments are implemented.

[0091] One embodiment of the present specification provides a computer program product, which includes instructions. When the instructions are executed by a processor of a computer device, the computer device can perform the steps of the method of any of the above embodiments.

[0092] In some embodiments, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 6As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a vehicle turning control method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0093] Those skilled in the art will understand that Figure 6 The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution disclosed in this specification, and does not constitute a limitation on the computer device to which the solution disclosed in this specification is applied. Specifically, the computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0094] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

Claims

1. A vehicle turning control method, characterized in that: The method comprises: When the current driving data of the vehicle satisfies the steering activation condition, determining the inner wheel and the outer wheel of the vehicle; Determining a braking force corresponding to the inner wheel and a driving force corresponding to the outer wheel based on the vehicle speed; The inner wheels of the vehicle are controlled to turn based on the braking force, and the outer wheels of the vehicle are controlled to turn based on the driving force, so that the current turning diameter of the vehicle is smaller than a preset turning diameter.

2. The method according to claim 1, characterized in that The method further comprises: In the process of controlling the turning of the inner wheel of the vehicle based on the braking force and controlling the turning of the outer wheel of the vehicle based on the driving force, the generated kinetic energy is recovered and converted into electric energy.

3. The method according to claim 1, characterized in that The current driving data of the vehicle includes the vehicle speed and the vehicle steering wheel angle parameter. The current driving data of the vehicle satisfies the steering activation condition including: the vehicle speed is within a preset range and the vehicle steering wheel angle parameter is not less than a steering threshold.

4. The method according to claim 3, characterized in that The step of determining the inner wheel and the outer wheel of the vehicle comprises: Based on the steering wheel angle parameter, an inner wheel and an outer wheel of the vehicle are determined.

5. The method according to claim 1, characterized in that The determining, based on the vehicle speed, of the braking force corresponding to the inner wheel and the driving force corresponding to the outer wheel includes: Based on the vehicle speed, the load data corresponding to the inner wheel, and the load data corresponding to the outer wheel, a braking force corresponding to the inner wheel and a driving force corresponding to the outer wheel are determined.

6. The method according to claim 5, characterized in that The determining, based on the vehicle speed, the load data corresponding to the inner wheel, and the load data corresponding to the outer wheel, of the braking force corresponding to the inner wheel and the driving force corresponding to the outer wheel comprises: Performing vector decomposition based on the vehicle speed to determine a braking speed corresponding to the inner wheel and a driving speed corresponding to the outer wheel; Determining the braking force corresponding to the inner wheel according to the braking speed corresponding to the inner wheel and the load data corresponding to the inner wheel; The driving force corresponding to the outer wheel is determined according to the driving speed corresponding to the outer wheel and the load data corresponding to the outer wheel.

7. The method according to claim 6, characterized in that The driving speed corresponding to the outer wheel is greater than the braking speed corresponding to the inner wheel.

8. The method according to claim 1, characterized in that The turning control of the inner wheel of the vehicle based on the braking force and the turning control of the outer wheel of the vehicle based on the driving force include: based on the braking force, controlling the brake to decelerate the inner wheel of the vehicle, and based on the driving force, controlling the motor to accelerate the outer wheel of the vehicle, so that the vehicle turns while the vehicle speed remains unchanged.

9. A vehicle turning control device, characterized in that: The device comprises: An inner and outer wheel determination module, used for determining an inner wheel and an outer wheel of the vehicle when current driving data of the vehicle meets a steering activation condition; a wheel power determination module, configured to determine a braking force corresponding to the inner wheel and a driving force corresponding to the outer wheel based on a vehicle speed of the vehicle; The turning control module is used to control the turning of the inner wheels of the vehicle based on the braking force, and to control the turning of the outer wheels of the vehicle based on the driving force, so that the current turning diameter of the vehicle is smaller than a preset turning diameter.

10. A vehicle, characterized in that: The vehicle comprises a brake-by-wire system for performing the steps of the method according to any one of claims 1 to 8.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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