In-situ turning control method and device, vehicle and storage medium

Abstract

The invention discloses an in-situ turning-around control method and device, a vehicle and a storage medium, and the in-situ turning-around control method comprises the steps that in-situ turning-around rotation direction information input by a user through a display device is acquired; and controlling the vehicle to turn around in situ according to the rotation direction information until the stop condition of turning around in situ is met. According to the method and the device, a driver can control the in-situ turning operation of the vehicle more flexibly, the difficulty of the in-situ turning operation is reduced, the safety and the operability of the in-situ turning operation are improved, and potential safety risks are reduced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a method for controlling an on-the-spot U-turn, a device for controlling an on-the-spot U-turn, a vehicle and a computer-readable storage medium. Background Art

[0002] In the related art, the U-turn operation of the vehicle on the spot usually requires the driver to control it by turning the steering wheel. However, there is a limitation in the related art, that is, the U-turn mode can only be activated when the steering wheel is turned to a certain angle exceeding a certain threshold. This limitation may pose a safety hazard to novice drivers, because if the driver fails to turn the steering wheel to a large enough angle, the vehicle may experience problems such as wheels stalling or deviating from the safe route when turning on the spot, especially in busy roads or traffic conditions, which may lead to unstable operation and safety risks. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a method for controlling a U-turn on the spot, which can enable a driver to control the U-turn operation of a vehicle more flexibly, reduce the difficulty of the U-turn operation on the spot, improve the safety and operability of the U-turn operation on the spot, and reduce potential safety risks.

[0004] The second objective of the present invention is to provide a control device for turning around in situ.

[0005] A third object of the present invention is to provide a vehicle.

[0006] A fourth objective of the present invention is to provide a computer-readable storage medium.

[0007] In order to achieve the above-mentioned purpose, the on-the-spot U-turn control method of the first aspect of the embodiment of the present invention includes: obtaining the turning direction information of the on-the-spot U-turn input by the user through the display device; controlling the vehicle to make an on-the-spot U-turn according to the turning direction information until the stopping condition of the on-the-spot U-turn is met.

[0008] According to the on-the-spot U-turn control method of the embodiment of the present invention, the vehicle is controlled to make a on-the-spot U-turn by acquiring the turning direction information of the on-the-spot U-turn until the stopping condition of the on-the-spot U-turn is met. This means that the driver can control the on-the-spot U-turn operation of the vehicle more intuitively without relying on a specific steering wheel angle, so that the driver can control the on-the-spot U-turn operation of the vehicle more flexibly, reducing the difficulty of the on-the-spot U-turn operation, improving the driver's operational flexibility and safety, and setting the stop condition can ensure that the on-the-spot U-turn is terminated at an appropriate time to avoid excessive or continuous U-turns, thereby reducing potential safety risks.

[0009] In some embodiments, the process stops until the stop condition for turning on the spot is met, including: until any one of the following conditions is met: the pedal depth of the brake pedal of the vehicle is greater than a preset depth threshold; a request command to exit the turning on the spot mode is received from the user through the display device; the steering wheel angle of the vehicle is greater than a preset angle threshold; the vehicle rotation angle reaches the target turning angle.

[0010] In some embodiments, before obtaining the turning direction information of the on-the-spot U-turn input by the user through the display device, the on-the-spot U-turn control method also includes: obtaining a steering wheel angle value in response to a on-the-spot U-turn start instruction; determining that the steering wheel angle value is less than a preset angle threshold, and providing an on-the-spot U-turn function setting interface for the user to input the turning direction information.

[0011] In some embodiments, controlling the vehicle to make an on-the-spot U-turn based on the rotation direction information includes: controlling the rotation direction information to determine a first rotation direction of wheels on one side of the vehicle and a second rotation direction of wheels on the other side of the vehicle, wherein the first rotation direction and the second rotation direction are opposite.

[0012] In some embodiments, the on-the-spot U-turn control method further includes: acquiring U-turn ground scene information.

[0013] In some embodiments, controlling the vehicle to make an on-the-spot U-turn according to the turning direction information includes: applying a first driving torque in a first direction to the wheels on one side of the vehicle according to the turning direction information and the U-turn ground scene information, and applying a second driving torque in a second direction to the wheels on the other side of the vehicle, wherein the first direction and the second direction are opposite directions, and the first driving torque and the second driving torque are not equal.

[0014] In some embodiments, controlling the vehicle to make an on-the-spot U-turn based on the turning direction information also includes: when the front wheels of the vehicle generate a left or right turning angle and the turning angle is within the preset turning angle threshold, controlling the rear wheels of the vehicle to turn in the opposite direction following the front wheels on the corresponding side of the vehicle in a preset corresponding relationship.

[0015] In some embodiments, after obtaining the turning direction information of the on-the-spot U-turn input by the user through the display device, the on-the-spot U-turn control method also includes: prompting the user to operate the brake pedal; detecting that the pedal depth of the brake pedal is greater than a preset depth threshold and the vehicle gear is switched from P gear to D gear; and prompting the user with the on-the-spot U-turn operation information.

[0016] In some embodiments, the on-the-spot U-turn control method further includes: acquiring on-the-spot U-turn mode setting information; determining a target on-the-spot U-turn mode according to the on-the-spot U-turn mode setting information, wherein the target on-the-spot U-turn mode includes a driver control mode or an automatic control mode.

[0017] In some embodiments, the turning direction information of a U-turn on the spot input by the user through the display device is obtained, including: in the driver control mode, at least obtaining the U-turn direction input by the user through the display device; in the automatic control mode, at least obtaining the U-turn direction and the U-turn target angle input by the user through the display device.

[0018] In some embodiments, in the driver control mode, the information prompting the user to make a U-turn on the spot includes at least one of the following: releasing the brake pedal to trigger the vehicle's U-turn on the spot, and adjusting the turning speed in response to the accelerator pedal information when the vehicle turns around; keeping the steering wheel in a return-to-center state when the vehicle turns around; and exiting the driver control mode in response to the pedal depth of the brake pedal exceeding the preset depth threshold when the vehicle turns around.

[0019] In some embodiments, in the driver control mode, the on-the-spot U-turn control method also includes: when the vehicle turns around, controlling the vehicle to rotate at a preset yaw angular velocity; in response to an accelerator pedal command, controlling the vehicle's yaw angular velocity to change following the accelerator pedal opening; when the accelerator pedal is released, controlling the vehicle to continue rotating at the preset yaw angular velocity.

[0020] In some embodiments, in the automatic control mode, the prompting user of the on-the-spot U-turn operation information includes at least one of the following: releasing the brake pedal to trigger the vehicle's on-the-spot U-turn, and the vehicle automatically stops after turning to the set U-turn target angle; keeping the steering wheel in a return-to-center state when the vehicle turns; when the vehicle turns, the vehicle will exit the automatic control mode in response to the pedal depth of the brake pedal exceeding the preset depth threshold.

[0021] In order to achieve the above-mentioned purpose, the on-the-spot U-turn control device of the second aspect embodiment of the present invention includes: at least one processor; a memory communicatively connected to the at least one processor; the memory stores a computer program executable by the at least one processor, and when the at least one processor executes the computer program, the on-the-spot U-turn control method described in the above embodiment is implemented.

[0022] According to the on-the-spot U-turn control device of the embodiment of the present invention, the processor executes the on-the-spot U-turn control method described in the above embodiment, obtains the turning direction information of the on-the-spot U-turn, and controls the vehicle to make a on-the-spot U-turn until the stopping condition of the on-the-spot U-turn is met. This means that the driver can control the on-the-spot U-turn operation of the vehicle more intuitively without relying on a specific steering wheel angle, so that the driver can control the on-the-spot U-turn operation of the vehicle more flexibly, reducing the difficulty of the on-the-spot U-turn operation, improving the driver's operating flexibility and safety, and setting the stop condition can ensure that the on-the-spot U-turn is terminated at an appropriate time to avoid excessive U-turns or continuous U-turns, thereby reducing potential safety risks.

[0023] In order to achieve the above-mentioned object, the vehicle of the embodiment of the third aspect of the present invention is used to implement the on-the-spot U-turn control method described in the above embodiment.

[0024] According to the vehicle of the embodiment of the present invention, by adopting the on-the-spot U-turn control method described in the above embodiment, the driver can more flexibly control the on-the-spot U-turn operation of the vehicle, reduce the difficulty of the on-the-spot U-turn operation, improve the safety and operability of the on-the-spot U-turn operation, and reduce potential safety risks.

[0025] In order to achieve the above-mentioned purpose, a computer-readable storage medium of an embodiment of the fourth aspect of the present invention stores a computer program thereon, and when the computer program is executed, the on-the-spot U-turn control method described in the above embodiment is implemented.

[0026] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0028] Figure 1 is a flow chart of a method for controlling an on-the-spot U-turn according to an embodiment of the present invention;

[0029] Figure 2 is a schematic diagram of a setting interface for a U-turn function according to an embodiment of the present invention;

[0030] Figure 3 is a schematic diagram of a U-turn on the spot according to an embodiment of the present invention;

[0031] Figure 4 is a schematic diagram of a vehicle with rear-wheel steering turning on the spot according to an embodiment of the present invention;

[0032] Figure 5 is a timing diagram of a driver control mode according to an embodiment of the present invention;

[0033] Figure 6 is a timing diagram of an automatic control mode according to an embodiment of the present invention;

[0034] Figure 7 is an overall flow chart of a method for controlling an on-the-spot U-turn according to an embodiment of the present invention;

[0035] Figure 8 4 is a block diagram of a stationary U-turn control device according to an embodiment of the present invention.

[0036] Reference numerals:

[0037] On-site U-turn control device 1;

[0038] Processor 10; Memory 20. DETAILED DESCRIPTION

[0039] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0040] Reference below Figure 1-Figure 7 A method for controlling an on-the-spot U-turn according to an embodiment of the present invention is described.

[0041] Figure 1 FIG. 1 is a flow chart of a method for controlling an on-the-spot U-turn according to an embodiment of the present invention. Figure 1 As shown, the on-the-spot U-turn control method at least includes steps S1-S2, which are specifically as follows.

[0042] S1, obtaining the rotation direction information of the on-the-spot U-turn input by the user through the display device.

[0043] The rotation direction information of the on-the-spot U-turn may be key information used by the user or the system to configure the on-the-spot U-turn operation. Such information may include, but is not limited to: U-turn direction, U-turn angle, and other information.

[0044] In some embodiments, the turning direction information of the U-turn on the spot can be obtained in a variety of ways, such as a display device, voice recognition, sensors (such as cameras, radars, and laser sensors), etc. Specifically, the user can use a display device on the vehicle, such as a touch screen PAD (Personal Access Device) or an instrument display screen, to input the turning direction information of the U-turn on the spot. The user can select options such as control mode, direction, and angle on the screen. Alternatively, the user can issue a configuration instruction for the turning direction information of the U-turn on the spot by voice. In addition, the system can also be equipped with sensors for the current position and surrounding environment information of the vehicle to automatically determine the turning direction information of the U-turn on the spot, such as the U-turn direction and the U-turn angle, so as to better adapt to driving conditions.

[0045] S2, controlling the vehicle to make a U-turn on the spot according to the turning direction information, until a stop condition for the U-turn on the spot is met.

[0046] In some embodiments, controlling the vehicle to make a U-turn on the spot based on the rotation direction information can be achieved by controlling the differential operation of the wheels on both sides of the vehicle. Specifically, by controlling the power output of the wheels on both sides, the wheels on one side can be made to rotate faster, while the wheels on the other side can rotate slower. This usually involves the operation of a differential, which can distribute power to each wheel to achieve the required differential operation, thereby achieving a U-turn on the spot. During the execution of the U-turn on the spot, the system can continuously monitor the status and environmental conditions of the vehicle, and dynamically adjust the differential operation parameters based on real-time data. For example, when encountering obstacles or different ground slopes, the system can adjust the differential operation parameters to ensure safety and stability.

[0047] According to the on-the-spot U-turn control method of the embodiment of the present invention, the vehicle is controlled to make a on-the-spot U-turn by acquiring the turning direction information of the on-the-spot U-turn until the stopping condition of the on-the-spot U-turn is met. This means that the driver can control the on-the-spot U-turn operation of the vehicle more intuitively without relying on a specific steering wheel angle, so that the driver can control the on-the-spot U-turn operation of the vehicle more flexibly, reducing the difficulty of the on-the-spot U-turn operation, improving the driver's operational flexibility and safety, and setting the stop condition can ensure that the on-the-spot U-turn is terminated at an appropriate time to avoid excessive or continuous U-turns, thereby reducing potential safety risks.

[0048] In some embodiments, until the stop condition of turning around in situ is satisfied includes: until any one of the following conditions is satisfied:

[0049] First, the pedal depth of the vehicle's brake pedal is greater than a preset depth threshold. This means that if the driver presses the brake pedal during a U-turn and the depth reaches the preset depth threshold, the U-turn will stop. This is a common operation mode, and the driver usually presses the brake pedal to slow down or stop. Therefore, when the driver wants to terminate the U-turn, he only needs to press the brake pedal to a certain depth, and the vehicle will respond and stop the U-turn.

[0050] Second, a request for exiting the on-the-spot U-turn mode is received from the user through the display device. This condition allows the driver to exit the on-the-spot U-turn mode by inputting a request through the display device. This is a very intuitive way to allow the driver to actively terminate the on-the-spot U-turn operation according to actual needs. For example, if the driver suddenly finds that it is not suitable or there is an obstacle when performing a U-turn on the spot, he can issue an exit instruction through the display device.

[0051] Third, the vehicle's steering wheel angle is greater than the preset angle threshold. This means that if the driver quickly turns the steering wheel during a U-turn maneuver and the steering wheel angle is greater than the preset angle threshold, the vehicle will stop turning. This is also a safety mechanism to deal with the driver's abrupt operation.

[0052] Fourth, the vehicle rotation angle reaches the U-turn target angle. This means that when the vehicle rotation angle reaches the preset U-turn target angle, the U-turn operation will stop. This condition ensures that the vehicle completes the expected U-turn action, and once the U-turn target angle is reached, the system will stop the U-turn operation.

[0053] Therefore, the existence of these stop conditions makes the U-turn operation more intelligent and flexible, and the U-turn operation can be stopped according to different driving scenarios and needs, which improves the controllability and safety of the U-turn operation. This multi-condition stop condition design can adapt to different driving situations, thereby enhancing practicality.

[0054] In some embodiments, in the related art, the vehicle is controlled to make a U-turn on the spot by turning the steering wheel, and the U-turn mode can only be activated when the steering wheel turns beyond a certain threshold, which may cause the wheels of the vehicle to not remain in a horizontal position of the vehicle body during the U-turn operation, thereby reducing the controllability and stability of the vehicle when making a U-turn on the spot. Therefore, it is necessary to obtain the steering wheel angle value in response to the U-turn start instruction before obtaining the U-turn rotation direction information input by the user through the display device. It is determined that the steering wheel angle value is less than the preset angle threshold, and a U-turn function setting interface is provided for the user to input the U-turn setting information on the spot.

[0055] Specifically, when the system receives a U-turn start instruction, the system will detect the current steering wheel angle value. The U-turn start instruction can be a manual input by the driver, such as pressing a specific button or through a voice command, or the system can automatically detect the need for a U-turn operation. The steering angle value is used to determine whether the driver has started to turn the steering wheel to perform the U-turn operation.

[0056] Furthermore, the current steering wheel angle value is compared with the preset angle threshold. The preset angle threshold is a preset threshold, which indicates the maximum angle allowed for the front wheels of the vehicle to rotate. If the steering wheel angle value is less than the preset angle threshold, the system will provide a setting interface for the on-the-spot U-turn function (see attached). Figure 2 ) for users to input the U-turn settings. Users can select driving scenarios, control modes, U-turn directions, U-turn angles and other parameters on this interface to personalize the U-turn operation.

[0057] In some embodiments, controlling the vehicle to make a U-turn on the spot according to the rotation direction information includes: controlling the rotation direction information to determine a first rotation direction of the wheels on one side of the vehicle and a second rotation direction of the wheels on the other side of the vehicle, wherein the first rotation direction and the second rotation direction are opposite. This is because in the U-turn on the spot operation, the vehicle needs to rotate around its own axis instead of moving in a straight line in one direction. If the first rotation direction is the same as the second rotation direction, the vehicle will only move forward or backward in one direction without rotating. Therefore, in order to achieve the U-turn on the spot operation, it is necessary to ensure that the first rotation direction and the second rotation direction are opposite.

[0058] In some embodiments, the on-the-spot U-turn control method further includes: obtaining U-turn ground scene information. The U-turn ground scene information may include road conditions, road type, ground slope, obstacles and other information.

[0059] Among them, the road condition may include the state of the current road surface, such as dry, slippery, muddy, covered with ice and snow, etc. Different road conditions may require different strategies for turning around in place to ensure the stability of the vehicle. The road type may include the material of the current road surface, such as asphalt road, cement road, gravel road, grass, etc. Different road types may have different effects on the traction and controllability of the vehicle. The ground slope may include uphill, downhill, flat, etc. Knowing whether the ground slope is steep or inclined can affect the vehicle's turning around in place performance. If the ground is inclined, the system may need to adjust the differential operation of the wheels to maintain balance. Obstacles may include fixed obstacles, such as roadblocks, curbs, guardrails, traffic sign poles, telephone poles, buildings, etc. These objects usually do not move, but may affect the U-turn operation. Mobile obstacles may include vehicles, pedestrians, bicycles, motorcycles, etc., which may move on the U-turn path. These mobile obstacles require special attention to ensure the safety of the U-turn operation in place.

[0060] In some embodiments, controlling the vehicle to make a U-turn in place according to the rotation direction information includes: applying a first driving torque in a first direction to the wheel on one side of the vehicle according to the rotation direction information and the U-turn ground scene information, and applying a second driving torque in a second direction to the wheel on the other side of the vehicle. The first direction and the second direction are opposite directions. In addition, the first driving torque is not equal to the second driving torque. This is because when the first driving torque is not equal to the second driving torque, the wheel on one side of the vehicle is subjected to a greater driving force, while the wheel on the other side is subjected to a smaller driving force. This imbalance causes differentiated wheel motion of the vehicle, in which one wheel rotates faster and the other wheel rotates slower. The vehicle can begin to rotate around its own center point. This is the key to achieving a U-turn or rotation in place, because this unbalanced wheel motion causes the vehicle to rotate along a circle or arc path instead of traveling in a straight line.

[0061] Figure 3 : is a schematic diagram of an on-site U-turn according to an embodiment of the present invention. Figure 3 As shown in the figure, taking the vehicle turning clockwise on the spot as an example, the left wheel can be used as the outer wheel to apply positive driving torque, the outer front wheel T_LF, the outer rear wheel T_LR; the right wheel can be used as the inner wheel to apply negative torque, the inner front wheel T_RF, the inner rear wheel T_RR. By applying a reverse driving torque to the inner wheel and a positive driving torque to the outer wheel at the same time, the differential torque between the inner and outer sides can generate a yaw torque at the center of mass of the vehicle. When the yaw torque is large enough, the vehicle breaks through the adhesion of the road surface and starts to rotate, thereby realizing the function of turning on the spot.

[0062] In some embodiments, controlling the vehicle to make a U-turn on the spot based on the turning direction information also includes: when the front wheels of the vehicle generate a left or right turning angle and the turning angle is within a preset turning angle threshold, controlling the rear wheels of the vehicle to follow the front wheels on the corresponding side of the vehicle to turn in the opposite direction in a preset corresponding relationship. This is equivalent to applying steering forces in different directions to the front and rear of the vehicle respectively. The purpose of this control is to help the vehicle maintain balance, especially when making a U-turn on the spot, the movement between the front and rear of the vehicle needs to be coordinated. By making the rear wheels follow the movement of the front wheels, the rotation of the vehicle can be better achieved, so that the vehicle can rotate around its own center point without losing balance, thereby increasing the driver's control over the vehicle and improving the driving controllability and stability.

[0063] Figure 4 FIG. 1 is a schematic diagram of a vehicle with rear-wheel steering turning on the spot according to an embodiment of the present invention. Figure 4 As shown, the rear wheel steering can achieve the purpose of keeping the vehicle in a balanced state by changing the rear wheel with the front wheel turning angle when the front wheel has a certain turning angle but is still within the preset turning angle threshold. Specifically, when the front wheel has a turning angle θ, the rear wheel generates a follow-up turning angle α in the opposite direction of the front wheel in a preset corresponding relationship. The relationship between the two can be a ratio, an exponent or a certain corresponding relationship, so that the vehicle is in a balanced state and rotates around the center of mass.

[0064] In some embodiments, after obtaining the turning direction information of the pivot turn input by the user through the display device, the system will prompt the user to operate the brake pedal. This means that before performing the pivot turn operation, the user needs to step on the brake pedal to ensure that the vehicle can be controlled by deceleration when making a pivot turn.

[0065] Furthermore, the system can monitor the depth of the brake pedal, that is, the degree to which the user presses the brake pedal. When the pedal depth of the brake pedal exceeds a preset depth threshold, the system can switch the vehicle's gear from P gear to D gear to prepare for a U-turn on the spot.

[0066] Further, once the system detects that the brake pedal is operated and the gear shift is ready, it can provide the user with information on how to make a U-turn on the spot. This can include informing the user that the brake pedal can be released to trigger the U-turn on the spot, and providing relevant information on how to control the steering wheel and operate the throttle to control the steering speed.

[0067] In some embodiments, the on-the-spot U-turn control method further includes: acquiring on-the-spot U-turn mode setting information; determining a target on-the-spot U-turn mode according to the on-the-spot U-turn mode setting information, wherein the target on-the-spot U-turn mode includes a driver control mode or an automatic control mode.

[0068] Specifically, according to the pivot mode setting information input by the user, the system can determine the target pivot mode. If the pivot mode setting information indicates that the driver has selected manual control of the pivot operation, the system will determine the driver control mode as the target pivot mode. If the pivot mode setting information indicates that the driver has selected to let the vehicle automatically perform a pivot, the system will determine the automatic control mode as the target pivot mode.

[0069] In some embodiments, for driver control mode, the driver has direct control and can decide the speed, direction and angle of the U-turn by manually operating the steering wheel, brake pedal and accelerator pedal. This mode is suitable for situations where the driver wants to perform the U-turn personally, is confident in the U-turn conditions and is willing to take responsibility for the operation. This mode is usually used for normal road driving and low-risk U-turn situations.

[0070] For the automatic control mode, the vehicle's U-turn operation is automatically controlled by the system, and is executed according to the U-turn direction and U-turn target angle in the U-turn direction information, without the need for direct control by the driver. This mode is suitable for situations where the driver wants the vehicle to automatically perform a U-turn operation, such as when the driver is uncertain or unfamiliar with the U-turn conditions, or when the road conditions are complex and the advanced driver assistance system is required to ensure safety.

[0071] In some embodiments, in the driver control mode, after selecting the U-turn direction, the PAD prompts the user to step on the brake pedal and switch the gear to the D gear, and keep the brake pedal in the stepped state during this process. When the user switches to the D gear, the instrument prompts the user with the U-turn operation information on the spot, including at least one of the following:

[0072] First, release the brake pedal to trigger the vehicle's U-turn, and adjust the turning speed in response to the accelerator pedal information when the vehicle turns. This allows the user to increase or decrease the turning speed as needed during the U-turn to achieve more precise control.

[0073] Second, keep the steering wheel in the normal state when the vehicle turns. Too large a steering wheel angle can cause the function to exit, so the user needs to keep the steering wheel back to the normal driving state to ensure that the vehicle remains stable during the U-turn.

[0074] Third, when the vehicle is turning around, the vehicle will exit the driver control mode in response to the brake pedal's pedal depth exceeding a preset depth threshold. This is to ensure the user's safety. If the brake pedal depth indicates that the user may want to stop the turn, the system will exit the driver control mode or automatically switch to other modes accordingly.

[0075] Figure 5 is a timing diagram of a driver control mode according to an embodiment of the present invention, such as Figure 5 As shown, the on-the-spot U-turn control method also includes: when the driver releases the brake pedal and the pedal depth of the brake pedal is within a preset depth threshold, VOT is enabled and the vehicle enters the driver control mode. At this time, when the vehicle turns around, the vehicle is controlled to continue rotating at a preset yaw rate, and this preset yaw rate can be a relatively low yaw rate at idle. Among them, the yaw rate can be achieved by adjusting or setting parameters, and is usually set to a relatively low value. This means that the vehicle performs a U-turn at a lower rotation speed, but this speed can be adjusted as needed to meet specific driving conditions or user preferences. Through the setting of calibratable quantities, the vehicle's U-turn operation can be customized according to specific circumstances to provide better handling and stability.

[0076] Further, in response to the accelerator pedal command, the yaw rate of the vehicle is controlled to change with the accelerator pedal opening. For example, when the user steps on the accelerator pedal and the accelerator opening becomes larger and larger, the yaw rate can be increased accordingly, thereby speeding up the U-turn operation.

[0077] Further, after the accelerator pedal is released, the vehicle is controlled to continue to rotate at a preset yaw rate, such as the yaw rate at idle speed. This means that even if the user releases the accelerator pedal during a U-turn, the vehicle will continue to rotate at the yaw rate at idle speed, which helps maintain the stability of the U-turn and ensures that the vehicle remains controllable during the U-turn.

[0078] Furthermore, when the driver steps on the brake pedal, if the pedal depth of the brake pedal exceeds a preset depth threshold, the VOT state is set to 0, and the on-the-spot U-turn function in the driver control mode is exited.

[0079] In some embodiments, in the automatic control mode, after selecting the U-turn direction and the target U-turn angle, the instrument prompts the user to step on the brake pedal and switch the gear to the D gear, and keep the brake pedal in the stepped state during this process. After the user switches to the D gear, the instrument prompts the user with the U-turn operation information on the spot, including at least one of the following:

[0080] First, release the brake pedal to trigger the vehicle's on-the-spot U-turn, and the vehicle will automatically stop after turning to the set U-turn target angle. In this way, the driver does not need to stop the car manually, which increases the convenience of operation.

[0081] Second, keep the steering wheel in the center position when the vehicle turns around. This means that in automatic control mode, the steering wheel can be kept in the center position without driver intervention. This ensures that the vehicle remains stable during the U-turn operation and reduces the operating burden on the driver.

[0082] Third, when the vehicle is turning around, the vehicle will exit the automatic control mode in response to the pedal depth of the brake pedal exceeding the preset depth threshold. This is to increase safety and user control. If the user suddenly presses the brake pedal hard in the automatic control mode, the vehicle can exit the automatic mode to allow the driver to intervene and stop the U-turn at any time.

[0083] As a result, this operational information makes it safer and more controllable to perform a pivot maneuver in automatic control mode, while providing the user with some flexibility to manually intervene or stop the maneuver when needed. This helps improve vehicle handling and stability.

[0084] Figure 6 is a timing diagram of an automatic control mode according to an embodiment of the present invention, such as Figure 6 As shown, the on-the-spot U-turn control method also includes: when the driver releases the brake pedal and the pedal depth of the brake pedal is within the preset depth threshold, VOT is enabled and the vehicle enters the automatic control mode. At this time, in the automatic control mode, the vehicle starts to rotate and automatically controls the rotation of the vehicle according to the preset U-turn target angle, which means that the vehicle will rotate to the preset U-turn target angle. Once the vehicle reaches the preset U-turn target angle, the automatic control mode stops the vehicle. Then, the vehicle will automatically switch from D gear to P gear to complete the on-the-spot U-turn operation.

[0085] Figure 7 FIG. 1 is a general flow chart of a method for controlling an on-the-spot U-turn according to an embodiment of the present invention. Figure 7 As shown, the overall process of the on-the-spot U-turn control method includes at least steps S10-S26, which are specifically as follows.

[0086] S10, start.

[0087] S11, the driver selects to enter the on-the-spot U-turn function through the instrument or PAD.

[0088] S12, the vehicle enters the on-the-spot U-turn function interface, and the VOT function introduction and application scenarios appear on the PAD.

[0089] S13, determining whether the steering wheel angle value is less than a preset angle threshold, if so, proceeding to step S14, if not, returning to step S12.

[0090] Specifically, when the driver clicks to enter the VOT function, the system will determine whether the wheel angle is within the preset angle threshold. When the vehicle's steering wheel angle value exceeds the preset angle threshold, the VOT function will not be activated, and the user will be prompted on the PAD to "please straighten the steering wheel before operating". When the steering wheel angle value is within the preset angle threshold, the user enters the VOT function interface.

[0091] S14, the driver selects an application scenario through the instrument, and the application scenario may include but is not limited to ice, snow, mud and sand, etc.

[0092] S15, determining the target on-the-spot U-turn mode selected by the driver through the instrument.

[0093] S16: When the user selects the driver control mode, it is necessary to continue to select the turning direction of the vehicle.

[0094] S17, the user operates the brake pedal and switches the gear from the P gear to the D gear. After the gear is switched, the user releases the brake pedal to activate the driver control mode.

[0095] S18, the driver control mode is running, and the PAD prompts "the on-the-spot U-turn function is running".

[0096] S19, determine whether the pedal depth of the brake pedal is greater than the preset depth threshold, or whether the user requests to exit the driver control mode through the PAD, or whether the steering wheel angle is greater than the preset angle threshold. If any of the conditions is met, enter step S24, otherwise return to step S18.

[0097] S20, when the user selects the automatic control mode, it is necessary to continue to select the vehicle's U-turn direction and U-turn target angle. The U-turn direction includes left turn and right turn. The U-turn target angle has an angle selection range of 90° to 360°.

[0098] S21, the user operates the brake pedal and switches the gear from the P gear to the D gear. After the gear is switched, the user releases the brake pedal to activate the automatic control mode.

[0099] S22, automatic control mode operation, PAD prompts "on-the-spot U-turn function is operating".

[0100] S23, determine whether the pedal depth of the brake pedal is greater than the preset depth threshold, or whether the user requests to exit the automatic control mode through the PAD, or whether the steering wheel angle is greater than the preset angle threshold. If any of the conditions is met, enter step S24, otherwise return to step S22.

[0101] S24, the on-the-spot U-turn function in the target on-the-spot U-turn mode is exited, the vehicle stops rotating, and the vehicle automatically switches to the P gear position.

[0102] S25, the PAD prompts "The on-the-spot U-turn function has been exited".

[0103] S26, end.

[0104] In summary, the present invention provides two options for on-the-spot U-turn modes, namely the driver control mode and the automatic control mode. The driver can select different target on-the-spot U-turn modes when making a U-turn on the spot, and control the vehicle to make a U-turn on the spot according to the turning direction information and the U-turn ground scene information, so as to achieve flexible on-the-spot U-turn operation. In addition, the invention also provides a variety of safety mechanisms to ensure that the target on-the-spot U-turn mode can be exited when necessary, including brake pedal operation, user request command and steering wheel operation, thereby improving the safety and controllability of the vehicle.

[0105] Based on the on-site U-turn control method of the above embodiment, Figure 8 A stationary U-turn control device according to an embodiment of the present invention is described.

[0106] Figure 8 is a block diagram of a stationary U-turn control device according to an embodiment of the present invention. Figure 8 As shown, the stationary U-turn control device 1 includes: at least one processor 10 and a memory 20.

[0107] The memory 20 is connected to the at least one processor 10 for storing computer programs and related data. The memory 20 may include a random access memory (RAM), a read-only memory (ROM), a flash memory, etc.

[0108] When the processor 10 is used to execute instructions in a computer program, the on-the-spot U-turn control method described in the above embodiment can be implemented. The processor 10 can be a central processing unit (CPU) or other computing devices.

[0109] According to the on-the-spot U-turn control device 1 of the embodiment of the present invention, the processor 10 executes the on-the-spot U-turn control method described in the above embodiment, and controls the vehicle to make a on-the-spot U-turn by obtaining the turning direction information of the on-the-spot U-turn until the stopping condition of the on-the-spot U-turn is met. This means that the driver can control the on-the-spot U-turn operation of the vehicle more intuitively without relying on a specific steering wheel angle, so that the driver can control the on-the-spot U-turn operation of the vehicle more flexibly, reducing the difficulty of the on-the-spot U-turn operation, improving the driver's operating flexibility and safety, and setting the stop condition can ensure that the on-the-spot U-turn is terminated at an appropriate time to avoid excessive U-turns or continuous U-turns, thereby reducing potential safety risks.

[0110] In some embodiments of the present invention, a vehicle is further provided for implementing the on-the-spot U-turn control method described in the above embodiments.

[0111] In some embodiments, the vehicle may include a steering system, a drive system, and a brake system. The steering system may be used to control the steering of the front wheels according to the rotation direction information of the U-turn on the spot input by the driver through the display device. The drive system may be used to control the front wheels and the rear wheels according to the rotation direction information, the U-turn ground scene information, and the driving torque. This system ensures that the vehicle can maintain balance and stability when performing a U-turn on the spot. The brake system can ensure that the U-turn operation can be quickly stopped by the brake pedal or other means when necessary.

[0112] According to the vehicle of the embodiment of the present invention, by adopting the on-the-spot U-turn control method described in the above embodiment, the driver can more flexibly control the on-the-spot U-turn operation of the vehicle, reduce the difficulty of the on-the-spot U-turn operation, improve the safety and operability of the on-the-spot U-turn operation, and reduce potential safety risks.

[0113] In some embodiments of the present invention, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed, the method for controlling an on-the-spot U-turn of any of the above embodiments is implemented.

[0114] The computer-readable storage medium proposed in an embodiment of the present invention stores a computer program. When the computer program is executed by the processor 10, the on-the-spot U-turn control method of the above embodiment can be implemented. By obtaining the rotation direction information of the on-the-spot U-turn, the vehicle is controlled to make a on-the-spot U-turn until the stopping condition of the on-the-spot U-turn is met. This means that the driver can control the on-the-spot U-turn operation of the vehicle more intuitively without relying on a specific steering wheel angle, so that the driver can control the on-the-spot U-turn operation of the vehicle more flexibly, reducing the difficulty of the on-the-spot U-turn operation, improving the driver's operating flexibility and safety, and reducing potential safety risks.

[0115] The computer-readable storage medium of the embodiments of the present invention may include, but is not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0116] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative 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.

[0117] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A method for controlling a U-turn on the spot, characterized in that: include: Obtaining the rotation direction information of the on-the-spot U-turn input by the user through the display device; The vehicle is controlled to make a U-turn on the spot according to the rotation direction information until a stop condition for the U-turn on the spot is met.

2. The method for controlling a U-turn in situ according to claim 1, characterized in that: Until the stopping conditions for turning around on the spot are met, including: Until any of the following conditions is met: The pedal depth of the brake pedal of the vehicle is greater than a preset depth threshold; receiving a request command for exiting the on-the-spot turning mode input by a user through a display device; The steering wheel angle of the vehicle is greater than a preset angle threshold; The vehicle rotation angle reaches the U-turn target angle.

3. The method for controlling a U-turn in situ according to claim 2, characterized in that: Before obtaining the rotation direction information of the on-the-spot U-turn input by the user through the display device, the on-the-spot U-turn control method further includes: In response to a U-turn start instruction, obtaining a steering wheel angle value; It is determined that the steering wheel angle value is less than a preset angle threshold, and a turn-on-the-spot function setting interface is provided for the user to input the turning direction information.

4. The method for controlling a U-turn in situ according to claim 1, characterized in that: Controlling the vehicle to make a U-turn on the spot according to the rotation direction information includes: The rotation direction information is controlled to determine a first rotation direction of a wheel on one side of the vehicle and a second rotation direction of a wheel on the other side of the vehicle, wherein the first rotation direction is opposite to the second rotation direction.

5. The method for controlling a U-turn in situ according to claim 1, characterized in that: The on-the-spot U-turn control method further includes: acquiring U-turn ground scene information.

6. The method for controlling a U-turn in situ according to claim 5, characterized in that: Controlling the vehicle to make a U-turn on the spot according to the rotation direction information includes: A first driving torque in a first direction is applied to the wheels on one side of the vehicle according to the turning direction information and the U-turn ground scene information, and a second driving torque in a second direction is applied to the wheels on the other side of the vehicle, wherein the first direction and the second direction are opposite directions, and the first driving torque and the second driving torque are not equal.

7. The method for controlling a U-turn in situ according to claim 4 or 6, characterized in that: Controlling the vehicle to make a U-turn on the spot according to the rotation direction information also includes: When the front wheels of the vehicle generate a left-right turning angle and the turning angle is within a preset turning angle threshold, the rear wheels of the vehicle are controlled to follow the front wheels on the corresponding side of the vehicle to turn in the opposite direction in a preset corresponding relationship.

8. The method for controlling a U-turn in situ according to claim 1, characterized in that: After obtaining the rotation direction information of the on-the-spot U-turn input by the user through the display device, the on-the-spot U-turn control method further includes: Prompt the user to operate the brake pedal; detecting that the pedal depth of the brake pedal is greater than a preset depth threshold and the vehicle gear is switched from the P gear to the D gear; Prompt the user to make a U-turn on the spot.

9. The method for controlling a U-turn in situ according to claim 8, characterized in that: The on-site U-turn control method further comprises: Get the setting information of the U-turn mode; A target pivot mode is determined according to the pivot mode setting information, wherein the target pivot mode includes a driver control mode or an automatic control mode.

10. The method for controlling a U-turn in situ according to claim 9, characterized in that: Obtaining the rotation direction information of the U-turn on the spot input by the user through the display device, including: In the driver control mode, at least obtaining a U-turn direction input by a user through the display device; In the automatic control mode, at least the U-turn direction and the U-turn target angle input by the user through the display device are obtained.

11. The method for controlling a U-turn in situ according to claim 9, characterized in that: In the driver control mode, the prompting user to perform a U-turn on the spot operation information includes at least one of the following: releasing the brake pedal to trigger a U-turn of the vehicle, and adjusting the turning speed in response to the accelerator pedal information when the vehicle turns; Keep the steering wheel in the center position when the vehicle turns; The vehicle will exit the driver control mode in response to the pedal depth of the brake pedal exceeding the preset depth threshold when the vehicle makes a U-turn.

12. The method for controlling a U-turn in situ according to claim 9, characterized in that: In the driver control mode, the stationary U-turn control method further includes: When the vehicle turns around, the vehicle is controlled to rotate at a preset yaw angular velocity; In response to an accelerator pedal command, controlling the yaw rate of the vehicle to change following the accelerator pedal opening; After the accelerator pedal is released, the vehicle is controlled to continue rotating at the preset yaw angular velocity.

13. The method for controlling a U-turn in situ according to claim 9, characterized in that: In the automatic control mode, the prompting user to perform a U-turn operation on the spot includes at least one of the following: Releasing the brake pedal to trigger the vehicle's on-the-spot U-turn, and the vehicle automatically stops after turning to a set U-turn target angle; Keep the steering wheel in the center position when the vehicle turns; The vehicle will exit the automatic control mode in response to the pedal depth of the brake pedal exceeding the preset depth threshold when the vehicle makes a U-turn.

14. A U-turn control device, characterized in that: include: at least one processor; a memory communicatively coupled to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, and when the at least one processor executes the computer program, the on-the-spot U-turn control method described in any one of claims 1-12 is implemented.

15. A vehicle, characterized in that: Used to implement the on-the-spot U-turn control method described in any one of claims 1-13.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the method for controlling a U-turn in place described in any one of claims 1 to 13 is implemented.

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