Vehicle turning diameter optimization method and device, vehicle and medium

Abstract

The invention discloses a vehicle turning diameter optimization method and device, a vehicle and a medium in the technical field of vehicle control, and the method comprises the steps: determining a turning control strategy matched with the width of a road surface according to the width of the road surface where the current vehicle runs; the turning control strategy comprises control over an inner rear wheel and an inner front wheel; and executing the turning control strategy and performing energy recovery. By the adoption of the method, the turning diameter of the vehicle can be reduced, the steering trafficability and driving safety of the vehicle are improved, energy recovery can be achieved in the turning process, and the cruising ability of the vehicle is improved.

Description

Technical Field

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

[0002] In the related art, vehicles usually need to perform turning operations during maneuvers. During the turning process, a larger turning diameter will increase traffic congestion, reduce road traffic failure efficiency, and also increase the driving risk of the vehicle. Summary of the invention

[0003] Based on this, it is necessary to provide a vehicle turning diameter optimization method, device, vehicle and medium that can reduce the minimum turning diameter in response to the above-mentioned technical problems.

[0004] A vehicle turning diameter optimization method, comprising:

[0005] Determining a turning control strategy that matches the width of the road on which the vehicle is currently traveling, according to the width of the road on which the vehicle is currently traveling; the turning control strategy includes controlling the inner rear wheel and the inner front wheel;

[0006] The turning control strategy is executed and energy recovery is performed.

[0007] In the above solution, the step of determining a turning control strategy that matches the width of the road on which the vehicle is currently traveling comprises:

[0008] If the road width is less than or equal to the set width, locking control of the inner rear wheel and braking control of the inner front wheel are determined as the turning control strategy.

[0009] In the above solution, the step of determining a turning control strategy that matches the width of the road on which the vehicle is currently traveling comprises:

[0010] If the road width is greater than a set width, locking control of the inner rear wheel is determined as the turning control strategy.

[0011] In the above solution, the braking control of the inner front wheel includes:

[0012] Acquiring driving data of the vehicle, and determining the actual axle load of the inner front wheel according to the driving data;

[0013] A required braking force is applied to the inner front wheel according to an actual axle load of the inner front wheel.

[0014] In the above solution, the execution of the turning control strategy includes:

[0015] The turning control strategy is executed based on the onebox braking system and energy recovery is performed.

[0016] In the above solution, the step of determining a turning control strategy that matches the width of the road on which the vehicle is currently traveling comprises:

[0017] Determine whether the vehicle is in a turning scene, and if it is determined that the vehicle is in a turning scene, execute the step of determining the turning control strategy.

[0018] In the above solution, the step of determining whether the vehicle is in a turning scene includes:

[0019] If the vehicle speed is within the set speed range and the steering wheel rotation angle is greater than or equal to the set angle, it is confirmed that the vehicle is in a turning scene.

[0020] A vehicle turning diameter optimization device, comprising:

[0021] A determination module, used to determine a turning control strategy that matches the width of the road surface on which the vehicle is currently traveling, wherein the turning control strategy includes controlling the inner rear wheel and the inner front wheel;

[0022] The execution module is used to execute the turning control strategy and perform energy recovery.

[0023] A vehicle includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the vehicle turning diameter optimization method is implemented.

[0024] A computer-readable storage medium stores a computer program, which implements the above-mentioned vehicle turning diameter optimization method when executed by a processor.

[0025] The above-mentioned vehicle turning diameter optimization method, device, vehicle and medium determine the turning control strategy that matches the road width according to the road width on which the vehicle is traveling, and then execute the turning control strategy. It can reduce the minimum turning diameter of the vehicle according to the road width, making the vehicle more flexible in turning on narrow roads. At the same time, energy can be recovered during the turning process, which can improve the vehicle's endurance. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of a process flow of a vehicle turning diameter optimization method in one embodiment;

[0027] Figure 2 is a schematic diagram of a vehicle turning on a narrow road in one embodiment;

[0028] Figure 3 is a schematic diagram of a vehicle turning on a wide road in one embodiment;

[0029] Figure 4 is a schematic diagram of a flow chart of braking control of an inner front wheel in one embodiment;

[0030] Figure 5 A block diagram of optimizing turning diameter of a vehicle in one embodiment;

[0031] Figure 6 FIG. 4 is a structural block diagram of a vehicle turning diameter optimization device in one embodiment. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0033] The implementation details of the technical solution of the embodiment of the present application are described in detail below.

[0034] In one embodiment, Figure 1 As shown, a vehicle turning diameter optimization method is provided, which may include the following steps:

[0035] Step S101, determining a turning control strategy that matches the road width according to the current road width on which the vehicle is traveling.

[0036] During the driving process of a vehicle, different road widths will provide different sizes of driving space for the vehicle, thus placing different requirements on the turning of the vehicle. For example, a narrow road provides limited space for the vehicle, so the turning diameter of the vehicle is restricted and it needs to turn with the smallest possible turning diameter; a wide road provides more space for the vehicle, so the vehicle can turn with a relatively larger turning diameter.

[0037] Based on this, when a vehicle needs to turn, it is necessary to determine the width of the road on which the vehicle is currently traveling. In practical applications, the width of the road on which the vehicle is currently traveling can be determined by the on-board camera and the laser radar. First, the on-board camera is used to capture the road image, record the visual information around the vehicle, and use the laser radar to scan the surrounding environment to obtain accurate distance information and generate point cloud data. The camera image is processed (such as denoising and contrast enhancement) to improve the image quality, and the laser radar data is filtered to remove interference points and improve the quality of the point cloud. After completing the preprocessing of the data, feature extraction is performed, specifically: extracting road edge or marking features from the camera image, using edge detection algorithms (such as Canny edge detection); extracting ground points from the laser radar point cloud to separate the road and surrounding obstacles. After extracting the relevant features, the features extracted by the camera are combined with the distance information of the laser radar to determine the boundary of the road, wherein the sensor fusion algorithm (such as Kalman filtering or particle filtering) can be used to improve the accuracy. Finally, the distance between the edges on both sides of the road is calculated to determine the width of the road surface.

[0038] After determining the width of the road surface on which the vehicle is currently traveling, a matching turning control strategy is selected according to the width of the road surface on which the vehicle is currently traveling, so that the vehicle can turn on the road surface with a smaller and appropriate turning radius.

[0039] Among them, the turning control strategy includes the control of the inner rear wheel and the inner front wheel of the vehicle during the turning process. The inner front wheel refers to the front wheel close to the turning center when the vehicle turns. For example, when the vehicle turns left, the left front wheel is the inner front wheel. The inner front wheel undertakes the main tasks of steering and braking during the turning process. The control of the inner front wheel directly affects the turning radius and stability of the vehicle. The inner rear wheel refers to the rear wheel close to the turning center when the vehicle turns. For example, when the vehicle turns right, the left rear wheel is the inner rear wheel. The inner rear wheel is mainly responsible for maintaining the stability and lateral control of the vehicle during the turning process. Control of the inner rear wheel can help reduce roll and improve grip when turning.

[0040] Based on this, when turning, the inner front wheel and the inner rear wheel need to be controlled differently to effectively adjust the vehicle's center of gravity and tilt force distribution and optimize the vehicle's turning diameter.

[0041] It should be noted that since different road widths have different requirements for turning diameters, there are certain differences in the turning control strategies corresponding to different road widths. For example, the turning control strategy corresponding to a narrow road will have greater control over the inner front wheels and the inner rear wheels, making the turning diameter of the vehicle on a narrow road smaller than that on a wide road.

[0042] In one embodiment, if the road width is less than or equal to the set width, locking control of the inner rear wheel and braking control of the inner front wheel are determined as the turning control strategy.

[0043] Here, the size of the turning diameter is mainly related to the width of the road surface. Based on this, roads are divided into narrow roads and wide roads according to the width of the road surface. Among them, narrow roads usually refer to roads with limited width that cannot meet the requirements of two vehicles passing smoothly in parallel, or even if they can barely pass in parallel, it will bring greater safety hazards to drivers. On narrow roads, vehicles often need to slow down or even stop to give way to oncoming vehicles. In actual applications, narrow roads are commonly found in streets in old urban areas, roads in mountainous areas, small roads in rural areas, or temporary narrowness caused by road construction and other reasons.

[0044] In this embodiment, the set width is used as a criterion for distinguishing between narrow roads and wide roads. If the width of the road on which the current vehicle is traveling is less than or equal to the set width, it can be determined that the current vehicle is traveling on a narrow road. Since narrow roads limit the available space, the vehicle must take a smaller turning diameter when turning to ensure that it can safely and smoothly pass the turn without hitting obstacles or exceeding the road boundary.

[0045] Based on this, Figure 2 As shown, Figure 2 The schematic diagram of a vehicle turning on a narrow road is shown. Locking control of the inner rear wheel and braking control of the inner front wheel are determined as the turning control strategy for narrow roads. Among them, locking control of the inner rear wheel means applying brakes to the inner rear wheel to lock it and prevent it from turning. Locking the inner rear wheel can prevent the tire from sliding, increase stability during turning, reduce the risk of vehicle skidding, and the vehicle can better control the steering and stay on the turning trajectory. Braking control of the inner front wheel will reduce the speed of the inner front wheel, thereby reducing the vehicle speed. Braking the inner front wheel can help the vehicle adjust the steering posture, reduce the turning diameter, and make the front wheel better follow the turning trajectory of the vehicle body. At the same time, it can increase the friction between the tire and the ground to prevent understeering during the turning process.

[0046] In one embodiment, if the road width is greater than a set width, locking control of the inner rear wheel is determined as a turning control strategy.

[0047] Here, if the width of the road on which the current vehicle is traveling is greater than the set width, it can be determined that the current vehicle is traveling on a wide road. Among them, a wide road refers to a road with a large width that can easily accommodate multi-lane traffic, and vehicles can travel in parallel without restrictions, with high traffic capacity and safety. Wide roads provide drivers with more relaxed operating space and field of vision, reducing traffic jams and accident risks caused by narrow roads. Wide roads are common in urban main roads, highways, and newly built broad streets.

[0048] In practical applications, the width of a wide road is larger, and the vehicle has more space when turning. Therefore, the vehicle can turn with a slightly larger turning diameter on a wide road. Compared with the turning control strategy on a narrow road, it is sufficient to lock only the inner rear wheel when turning on a wide road. Based on this, Figure 3 As shown, Figure 3 The schematic diagram of a vehicle turning on a wide road is shown, and locking the inner rear wheel is determined as a turning control strategy for wide roads. By locking the inner rear wheel, the inner rear wheel can be prevented from sliding, the vehicle can be kept stable, and sideslip can be avoided. At the same time, steering control can be increased, helping the vehicle to better maintain the predetermined turning track and better control the center of gravity and dynamic behavior of the vehicle.

[0049] Step S102, executing the turning control strategy and performing energy recovery.

[0050] During the turning process, the inner rear wheel and the inner front wheel are controlled accordingly according to the determined turning control strategy to shorten the turning diameter of the vehicle so that the vehicle can turn with a suitable turning diameter within the current road width.

[0051] Among them, when executing the turning control strategy matching the narrow road, the inner front wheel is braked and the inner rear wheel is locked; when executing the turning control strategy matching the wide road, the inner rear wheel is locked.

[0052] At the same time, energy recovery is also carried out during the turning process. The electric motor works in reverse to convert the vehicle's kinetic energy into electrical energy and store it in the vehicle's battery. This enables efficient energy recovery while turning and improves the vehicle's endurance.

[0053] In one embodiment, Figure 4 As shown, Figure 4 A schematic diagram of the process of braking control on the inner front wheel is shown.

[0054] Step S201, obtaining driving data of the vehicle, and determining the actual axle load of the inner front wheel according to the driving data.

[0055] Here, the vehicle's driving data is obtained through the vehicle's sensors, where the driving data includes speed, acceleration, steering angle, rotation speed of each wheel, and axle load. When the vehicle turns, the center of gravity moves outward, resulting in a decrease in the axle load of the inner wheel and an increase in the axle load of the outer wheel. At this time, it is necessary to evaluate the impact of this center of gravity shift on each wheel, and calculate the actual axle load of the inner front wheel based on dynamic factors such as the vehicle's geometric distribution, turning radius, and vehicle speed.

[0056] Step S202: applying required braking force to the inner front wheel according to the actual load axis of the inner front wheel.

[0057] Here, braking control of the inner front wheel requires applying corresponding braking force to the inner wheel according to the axle load distribution. According to the actual axle load of the inner front wheel and the principle of axle load distribution, the braking force to be applied to the inner front wheel is determined. In practical applications, a control algorithm can be designed to calculate the braking force required for the inner front wheel based on the axle load of the inner front wheel and the dynamic parameters of the vehicle, ensuring that the calculated braking force is proportional to the actual axle load of the inner front wheel to avoid wheel locking and maintain vehicle stability. Then, by applying the corresponding braking force to the inner front wheel, braking control of the inner front wheel is achieved.

[0058] In one embodiment, a turning control strategy is executed based on a onebox braking system and energy recovery is performed. Among them, the onebox braking system integrates braking control, power recovery and energy management functions, and manages the braking operation and energy recovery process through an electronic control unit. In this embodiment, the turning control strategy and energy recovery are both executed by the onebox braking system, and the onebox braking system can brake the vehicle by wire control and can recover energy. In practical applications, the onebox integrates the motor and the reducer to form a whole. This whole is called a "motor reducer integrated structure", which is usually located at the rear of the vehicle and directly connected to the wheel. During the vehicle turning process, the vehicle may brake or the driving speed may decrease. At this time, the integrated motor reducer will use inertia to convert part of the vehicle's kinetic energy into electrical energy. This process is achieved by changing the rotor speed of the motor, thereby generating a braking torque. In this process, the motor is not only responsible for driving the wheels, but also responsible for converting the energy generated by braking into electrical energy and storing it in the battery to increase the vehicle's cruising range. Therefore, the onebox braking system does not need to use a vacuum pump during the execution of the turning control strategy, which can reduce energy consumption, and the onebox braking system also has an energy recovery function.

[0059] In actual applications, the onebox control system has a faster response speed and more precise braking force control capability. Its response speed is less than 150 milliseconds, which is much faster than the traditional braking system. Therefore, the onebox control system can better control the vehicle in scenarios with higher control performance requirements such as autonomous driving. In addition, the onebox control system uses advanced sensors and intelligent control algorithms to sense the vehicle status and driver behavior in real time, adjust the braking force and wheel cylinder pressure according to demand, and improve driving safety.

[0060] In one embodiment, the turning control strategy is used to enable the vehicle to turn with a smaller turning diameter, and the optimization of the turning diameter is triggered only in a turning scenario. Based on this, it is necessary to determine whether the vehicle is in a turning scenario. If it is determined that the vehicle is in a turning scenario, the turning control strategy of the vehicle is determined to optimize the turning diameter of the vehicle.

[0061] In one embodiment, the vehicle's motion state data can be collected in real time using the vehicle's onboard sensors, and the motion state data can be used to determine whether the vehicle is in a turning scene. It is understandable that when a vehicle turns, it usually slows down to maintain stability, so the vehicle's speed can help identify whether the vehicle is turning. When the vehicle turns, the driver turns the reverse wheel, so the steering angle of the steering wheel directly reflects the driver's steering intention, and a larger steering angle usually indicates that the vehicle is turning. Based on this, a set speed range is set, which can help identify whether the vehicle is turning at an appropriate speed. If the vehicle's speed is within the set speed range, it indicates that the vehicle may be in a turning state. For example, the set speed range is set to -15Km / h to 15Km / h, where -15Km / h indicates the state of the vehicle when it is reversing or driving at a low speed, and 15Km / h indicates the state of the vehicle when it is moving forward or driving at a low speed. At the same time, a set angle is also set to effectively determine whether the vehicle's steering action is large enough to confirm whether the vehicle is turning, for example, the set angle is set to 270°. When the vehicle speed falls within the speed range and the steering wheel rotation angle is greater than or equal to the set angle, it is confirmed that the vehicle is in a turning scene.

[0062] In practical applications, when it is determined that the vehicle is in a turning scenario, the onebox braking system is activated so that the onebox braking system can execute the turning control strategy and perform energy recovery.

[0063] In an application embodiment, if Figure 5 As shown, Figure 5 A block diagram showing vehicle optimized turning diameter.

[0064] First, two turning control strategies are provided, including a turning control strategy for narrow roads and a turning control strategy for wide roads. In the turning control strategy for narrow roads, the inner front wheel is braked and the inner rear wheel is locked, while in the turning control strategy for wide roads, the inner rear wheel is locked.

[0065] These two turning control strategies will be stored in the vehicle's electronic control unit (ECU) for the onebox braking system to call and execute.

[0066] The Onebox braking system will be activated when the function activation conditions are met: (1) -15Km / h≤ The vehicle speed is less than or equal to 15Km / h; (2) The steering wheel rotation angle is ≥270°, which means that the vehicle is in a turning scene and the turning diameter needs to be optimized. If the above function activation conditions are not met, the turning control strategy determination will be automatically exited.

[0067] When the vehicle is driving, it will use the on-board camera and lidar to identify the width of the road the vehicle is currently traveling on, thereby determining whether the vehicle is traveling on a narrow road or a wide road, and feed back the current road width of the vehicle to the onebox braking system.

[0068] The Onebox braking system selects a matching turning control strategy from the two turning control strategies based on the width of the road the vehicle is currently traveling on, and executes the turning control strategy and energy recovery.

[0069] In practical applications, the turning control strategy is applicable to scenarios where the vehicle is moving forward or backward.

[0070] In the above embodiment, according to the width of the road on which the vehicle is currently traveling, a turning control strategy that matches the road width is determined, so that the vehicle can determine the appropriate turning diameter based on the road width, and thus through the turning control strategy, the vehicle can achieve a turn with a smaller turning diameter, thereby improving the vehicle's steering passability and driving safety on different road sections. While executing the turning control strategy, the vehicle will also perform energy recovery, thereby collaboratively storing energy based on road conditions, which can improve the vehicle's endurance.

[0071] In one embodiment, a vehicle turning diameter optimization device is provided, referring to Figure 6 As shown, the vehicle turning diameter optimization device 600 may include: a determination module 601 and an execution module 602 .

[0072] The determination module 601 is used to determine a turning control strategy that matches the road width according to the current road width of the vehicle; the turning control strategy includes controlling the inner rear wheel and the inner front wheel;

[0073] The execution module 602 is used to execute the turning control strategy and perform energy recovery.

[0074] In one embodiment, the determination module 601 is specifically configured to determine, if the road width is less than or equal to a set width, performing locking control on the inner rear wheel and braking control on the inner front wheel as a turning control strategy.

[0075] In one embodiment, the determination module 601 is specifically configured to determine that locking control of the inner rear wheel is performed as a turning control strategy if the road width is greater than a set width.

[0076] In one embodiment, the execution module 602 is specifically used to obtain the driving data of the vehicle, and determine the actual axle load of the inner front wheel according to the driving data;

[0077] Apply the required braking force to the inner front wheel according to the actual axle load of the inner front wheel.

[0078] In one embodiment, the execution module 602 is specifically used to execute a turning control strategy and perform energy recovery based on the onebox braking system.

[0079] In one embodiment, the determination module 601 is specifically used to determine whether the vehicle is in a turning scene, and if it is determined that the vehicle is in a turning scene, the step of determining the turning control strategy is executed.

[0080] In one embodiment, the determination module 601 is specifically used to confirm that the vehicle is in a turning scene if the vehicle speed is within a set speed range and the steering wheel rotation angle is greater than or equal to the set angle.

[0081] The specific definition of the vehicle turning diameter optimization device 600 can be found in the definition of the vehicle turning diameter optimization method mentioned above, which will not be repeated here. Each module in the above-mentioned vehicle turning diameter optimization device 600 can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0082] 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 processing in other suitable ways if necessary, and then stored in a computer memory.

[0083] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0084] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0085] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0086] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A vehicle turning diameter optimization method, characterized in that: include: Determining a turning control strategy that matches the road width according to the current road width on which the vehicle is traveling; The turning control strategy includes control of the inner rear wheel and the inner front wheel; The turning control strategy is executed and energy recovery is performed.

2. The vehicle turning diameter optimization method according to claim 1, characterized in that: The step of determining a turning control strategy that matches the width of the road surface on which the vehicle is currently traveling comprises: If the road width is less than or equal to the set width, locking control of the inner rear wheel and braking control of the inner front wheel are determined as the turning control strategy.

3. The vehicle turning diameter optimization method according to claim 1 or 2, characterized in that: The step of determining a turning control strategy that matches the width of the road surface on which the vehicle is currently traveling comprises: If the road width is greater than a set width, locking control of the inner rear wheel is determined as the turning control strategy.

4. The vehicle turning diameter optimization method according to claim 2, characterized in that: The step of performing braking control on the inner front wheel comprises: Acquiring driving data of the vehicle, and determining the actual axle load of the inner front wheel according to the driving data; A required braking force is applied to the inner front wheel according to an actual axle load of the inner front wheel.

5. The vehicle turning diameter optimization method according to claim 1, characterized in that: The executing of the turning control strategy comprises: The turning control strategy is executed based on the onebox braking system and energy recovery is performed.

6. The vehicle turning diameter optimization method according to claim 1, characterized in that: The step of determining a turning control strategy that matches the width of the road surface on which the vehicle is currently traveling comprises: Determine whether the vehicle is in a turning scene, and if it is determined that the vehicle is in a turning scene, execute the step of determining the turning control strategy.

7. The vehicle turning diameter optimization method according to claim 6, characterized in that: The determining whether the vehicle is in a turning scene includes: If the vehicle speed is within the set speed range and the steering wheel rotation angle is greater than or equal to the set angle, it is confirmed that the vehicle is in a turning scene.

8. A vehicle turning diameter optimization device, characterized in that: include: A determination module, used to determine a turning control strategy that matches the width of the road surface on which the vehicle is currently traveling, according to the width of the road surface; The turning control strategy includes control of the inner rear wheel and the inner front wheel; The execution module is used to execute the turning control strategy and perform energy recovery.

9. A vehicle, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the vehicle turning diameter optimization method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle turning diameter optimization method according to any one of claims 1 to 7 is implemented.

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