Vehicle turning control method and vehicle

Abstract

The invention provides a vehicle turning control method and a vehicle, and relates to the field of vehicle control, and the method comprises the steps: determining a road scene where the vehicle is located and a vehicle speed under the condition that a vehicle turning activation condition is satisfied, and according to the road scene and the vehicle speed, controlling the vehicle to turn. The torque of a front wheel of the vehicle and the torque of a first wheel (a rear wheel deviating from one side of the turning direction of the vehicle) are adjusted, the wheel speed of a third wheel (a front wheel close to one side of the turning direction of the vehicle) is obtained, and the wheel speed of a second wheel (a rear wheel close to one side of the turning direction of the vehicle) is adjusted according to the vehicle speed and the wheel speed of the third wheel. And the torque direction of the second wheel is opposite to the advancing direction of the vehicle. According to the invention, the turning radius of the vehicle can be reduced, and tire wear is reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and more specifically, to a vehicle turning control method and a vehicle in the field of vehicle control. Background Art

[0002] Traditional vehicle steering systems only change the deflection angle of the front wheels to achieve vehicle steering or straight-line driving, but do not consider the impact of the force on the rear wheels on vehicle steering. For this reason, a solution has emerged to brake one side of the rear wheel to reduce the turning radius, but braking one side of the rear wheel is likely to cause tire wear and reduce the service life of the tire. Summary of the invention

[0003] The present application provides a vehicle turning control method and a vehicle, wherein the method can reduce tire wear while reducing the turning radius of the vehicle.

[0004] In a first aspect, a vehicle turning control method is provided, the vehicle turning control method comprising: determining the road scene and vehicle speed of the vehicle when a vehicle turning activation condition is met; adjusting the torque of the front wheels and the torque of the first wheel of the vehicle according to the road scene and the vehicle speed; obtaining the wheel speed of the third wheel; wherein the wheel speed of the third wheel is the wheel speed of the front wheel on the side close to the vehicle turning direction; adjusting the wheel speed of the second wheel according to the vehicle speed and the wheel speed of the third wheel; wherein the second wheel is the rear wheel on the side close to the vehicle turning direction, the first wheel is the rear wheel opposite to the second wheel, and the torque direction of the second wheel is opposite to the travel direction of the vehicle.

[0005] In the above technical scheme, when the vehicle turning activation condition is met, the road scene and speed of the vehicle are determined, and according to the road scene and the speed, the torque of the front wheel of the vehicle and the torque of the first wheel (the rear wheel on the side away from the vehicle turning direction) are adjusted, the wheel speed of the third wheel (the front wheel on the side close to the vehicle turning direction) is obtained, and the wheel speed of the second wheel (the rear wheel on the side close to the vehicle turning direction) is adjusted according to the vehicle speed and the wheel speed of the third wheel. The torque direction of the second wheel is opposite to the vehicle's travel direction. The technical scheme is implemented to reduce the vehicle turning radius in a slip control manner, and the wheel speed of the second wheel and the torque direction of the second wheel are adjusted by torque control of the motor corresponding to the second wheel and adjusting the motor speed of the motor, so that the second wheel is reversed during the turning process, so that the second wheel and the ground generate a drag force opposite to the vehicle's travel direction. The turning radius of the vehicle can be reduced while ensuring that the second wheel is within the range of the optimal slip rate, and the tire wear caused by the locking of the second wheel is reduced, which is beneficial to extending the service life of the tire.

[0006] In combination with the first aspect, in some possible implementations, when the vehicle turning activation condition is met, before determining the road scene and vehicle speed of the vehicle, the vehicle turning control method also includes: when an auxiliary function for reducing the vehicle turning radius is enabled, detecting whether the vehicle turning activation condition is met.

[0007] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the vehicle turning activation condition includes at least one of the following information: the steering wheel steering angle is within a preset angle range; the vehicle speed is less than or equal to a first preset vehicle speed; the accelerator pedal opening is within a preset opening range.

[0008] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, adjusting the torque of the front wheels and the torque of the first wheel of the vehicle according to the road scene and the vehicle speed includes: obtaining the number of motors driving the front wheels of the vehicle to rotate; when the number is single, using a first preset torque adjustment strategy to adjust the torque of the front wheels and the torque of the first wheel of the vehicle; wherein the first preset torque adjustment strategy includes allocating torque to the front wheels and the first wheel of the vehicle according to the road scene and the vehicle speed, reducing the torque of the front wheels of the vehicle and increasing the torque of the first wheel according to the vehicle speed measured after the torque is allocated to the front wheels and the first wheel of the vehicle; when the number is two, using a second preset torque adjustment strategy to adjust the front wheels of the vehicle wheel torque and the torque of the first wheel; wherein the second preset torque adjustment strategy includes allocating torque to the first wheel and the fourth wheel according to the road scene and the vehicle speed, reducing the wheel speed of the third wheel according to the vehicle speed, reducing the torque of the fourth wheel and increasing the torque of the first wheel according to the vehicle speed measured after allocating torque to the first wheel and the fourth wheel and reducing the wheel speed of the third wheel, and adjusting the wheel speed of the third wheel according to the wheel speed of the third wheel measured after allocating torque to the first wheel and the fourth wheel and reducing the wheel speed of the third wheel; the torque direction of the third wheel after adjusting the wheel speed is the same as the torque direction of the second wheel, and the fourth wheel is the front wheel opposite to the third wheel.

[0009] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the use of a first preset torque adjustment strategy to adjust the torque of the front wheels and the torque of the first wheel of the vehicle includes: when the vehicle speed is less than or equal to a second preset vehicle speed, obtaining a first torque distribution ratio associated with the road scene for distributing torque to the front wheels and the first wheel of the vehicle; wherein the second preset vehicle speed is less than the first preset vehicle speed; distributing torque to the front wheels and the first wheel of the vehicle according to the first torque distribution ratio and the preset required torque associated with the accelerator pedal opening; and, when distributing torque to the front wheels and the first wheel of the vehicle, obtaining the vehicle speed again; when the vehicle speed obtained again is greater than the second preset vehicle speed, reducing the torque allocated to the front wheels of the vehicle and increasing the torque allocated to the first wheel.

[0010] In combination with the first aspect and the above-mentioned implementation manner, in some possible implementation manners, the use of the second preset torque adjustment strategy to adjust the torque of the front wheels and the torque of the first wheel of the vehicle includes: when the vehicle speed is less than or equal to the second preset vehicle speed, obtaining the second torque distribution ratio associated with the road scene for distributing torque to the first wheel and the fourth wheel; wherein the second preset vehicle speed is less than the first preset vehicle speed; distributing torque to the first wheel and the fourth wheel according to the second torque distribution ratio and the preset required torque associated with the accelerator pedal opening; controlling the third wheel not to rotate; and, after distributing torque to the first wheel and the fourth wheel and controlling the third wheel When the wheel is not rotating, the vehicle speed is obtained again; when the vehicle speed obtained again is greater than the second preset speed, the torque allocated to the fourth wheel is reduced, and the torque allocated to the first wheel is increased; the preset motor speeds corresponding to each of the multiple different wheel speeds associated with the third wheel are obtained; from the preset motor speeds corresponding to each of the multiple different wheel speeds associated with the third wheel, the wheel speed that is the same as the wheel speed of the third wheel is obtained to obtain a first target wheel speed, and the preset motor speed corresponding to the first target wheel speed is determined as the first target motor speed; the speed of the motor that drives the third wheel to rotate is adjusted to the first target motor speed to adjust the wheel speed of the third wheel.

[0011] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the increase in the torque allocated to the first wheel includes: obtaining a torque distribution ratio table associated with the first wheel; wherein the torque distribution ratio table includes a third torque distribution ratio corresponding to a plurality of different vehicle speeds; determining the third torque distribution ratio corresponding to the vehicle speed acquired again from the torque distribution ratio table to obtain a target torque distribution ratio; and allocating torque to the first wheel according to the target torque distribution ratio and the preset required torque to increase the torque allocated to the first wheel.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, adjusting the wheel speed of the second wheel according to the vehicle speed and the wheel speed of the third wheel includes: when the vehicle speed is less than or equal to a second preset speed, controlling the second wheel not to rotate; when the re-acquired vehicle speed is greater than the second preset speed, obtaining a wheel speed that is the same as the wheel speed of the third wheel from the preset motor speeds corresponding to each of a plurality of different wheel speeds associated with the third wheel, to obtain a second target wheel speed, and determining the preset motor speed corresponding to the second target wheel speed as the second target motor speed; adjusting the speed of the motor that drives the second wheel to rotate to the second target motor speed to adjust the wheel speed of the second wheel.

[0013] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after adjusting the wheel speed of the second wheel according to the vehicle speed and the wheel speed of the third wheel, the vehicle turning control method also includes: obtaining the wheel speed of the second wheel; when the wheel speed of the second wheel is 0 and the duration of the wheel speed of the second wheel being 0 reaches a preset duration, controlling the second wheel to reverse, wherein the torque direction of the second wheel after reversal is the same as the direction of travel of the vehicle.

[0014] In the above technical solution, when it is detected that the motor corresponding to the second wheel is blocked, the second wheel can be reversed, allowing the vehicle to turn in a traditional way, ensuring that the vehicle can complete the turn.

[0015] In a second aspect, a vehicle turning control device is provided, the vehicle turning control device comprising:

[0016] An information acquisition module, used to determine the road scene and vehicle speed of the vehicle when the vehicle turning activation condition is met;

[0017] a torque adjustment module, configured to adjust the torque of the front wheels and the torque of the first wheel of the vehicle according to the road scene and the vehicle speed;

[0018] A wheel speed acquisition module, used to acquire the wheel speed of the third wheel; wherein the wheel speed of the third wheel is the wheel speed of the front wheel on the side close to the turning direction of the vehicle;

[0019] A speed adjustment module is used to adjust the wheel speed of the second wheel according to the vehicle speed and the wheel speed of the third wheel; wherein the second wheel is a rear wheel close to the turning direction of the vehicle, the first wheel is a rear wheel opposite to the second wheel, and the torque direction of the second wheel is opposite to the traveling direction of the vehicle.

[0020] In conjunction with the second aspect, in some possible implementations, the vehicle turning control device further includes:

[0021] The judgment unit is used to detect whether the vehicle turning activation condition is met when the auxiliary function for reducing the vehicle turning radius is enabled.

[0022] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the vehicle turning activation condition includes at least one of the following information: the steering wheel steering angle is within a preset angle range; the vehicle speed is less than or equal to a first preset vehicle speed; the accelerator pedal opening is within a preset opening range.

[0023] In combination with the second aspect and the above implementations, in some possible implementations, the torque adjustment module includes:

[0024] A quantity acquisition unit, used to acquire the number of motors driving the front wheels of the vehicle to rotate;

[0025] a first adjustment unit, configured to, when the number is a single one, use a first preset torque adjustment strategy to adjust the torque of the front wheel and the first wheel of the vehicle; wherein the first preset torque adjustment strategy includes allocating torque to the front wheel and the first wheel of the vehicle according to the road scene and the vehicle speed, and reducing torque for the front wheel of the vehicle and increasing torque for the first wheel according to the vehicle speed measured after the torque is allocated to the front wheel and the first wheel of the vehicle;

[0026] A second adjustment unit is used to adjust the torque of the front wheels and the torque of the first wheel of the vehicle by adopting a second preset torque adjustment strategy when the number is two; wherein the second preset torque adjustment strategy includes allocating torque to the first wheel and the fourth wheel according to the road scene and the vehicle speed, reducing the wheel speed of the third wheel according to the vehicle speed, reducing the torque of the fourth wheel and increasing the torque of the first wheel according to the vehicle speed measured after allocating torque to the first wheel and the fourth wheel and reducing the wheel speed of the third wheel, and adjusting the wheel speed of the third wheel according to the wheel speed of the third wheel measured after allocating torque to the first wheel and the fourth wheel and reducing the wheel speed of the third wheel; the torque direction of the third wheel after adjusting the wheel speed is the same as the torque direction of the second wheel, and the fourth wheel is the front wheel opposite to the third wheel.

[0027] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the first adjustment unit is specifically used to obtain a first torque distribution ratio associated with the road scene for distributing torque to the front wheels and the first wheel of the vehicle when the vehicle speed is less than or equal to a second preset vehicle speed; wherein the second preset vehicle speed is less than the first preset vehicle speed; distribute torque to the front wheels and the first wheel of the vehicle according to the first torque distribution ratio and the preset required torque associated with the accelerator pedal opening; and, when distributing torque to the front wheels and the first wheel of the vehicle, obtain the vehicle speed again; when the vehicle speed obtained again is greater than the second preset vehicle speed, reduce the torque allocated to the front wheels of the vehicle and increase the torque allocated to the first wheel.

[0028] In combination with the second aspect and the above-mentioned implementation manner, in some possible implementation manners, the second adjustment unit is specifically used to obtain a second torque distribution ratio for distributing torque to the first wheel and the fourth wheel associated with the road scene when the vehicle speed is less than or equal to a second preset vehicle speed; wherein the second preset vehicle speed is less than the first preset vehicle speed; distribute torque to the first wheel and the fourth wheel according to the second torque distribution ratio and a preset required torque associated with the accelerator pedal opening; control the third wheel not to rotate; and, when the torque is distributed to the first wheel and the fourth wheel and the third wheel is controlled not to rotate, Acquire the vehicle speed; when the vehicle speed acquired again is greater than the second preset vehicle speed, reduce the torque allocated to the fourth wheel and increase the torque allocated to the first wheel; acquire the preset motor speeds corresponding to each of the multiple different wheel speeds associated with the third wheel; acquire the wheel speed that is the same as the wheel speed of the third wheel from the preset motor speeds corresponding to each of the multiple different wheel speeds associated with the third wheel to obtain a first target wheel speed, and determine the preset motor speed corresponding to the first target wheel speed as the first target motor speed; adjust the speed of the motor that drives the third wheel to rotate to the first target motor speed to adjust the wheel speed of the third wheel.

[0029] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the first adjustment unit or the second adjustment unit is specifically used to increase the torque allocated to the first wheel by: obtaining a torque distribution ratio table associated with the first wheel; wherein the torque distribution ratio table includes third torque distribution ratios corresponding to multiple different vehicle speeds; determining the third torque distribution ratio corresponding to the vehicle speed acquired again from the torque distribution ratio table to obtain a target torque distribution ratio; and allocating torque to the first wheel according to the target torque distribution ratio and the preset required torque to increase the torque allocated to the first wheel.

[0030] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the speed adjustment module is specifically used to: when the vehicle speed is less than or equal to the second preset speed, control the second wheel not to rotate; when the vehicle speed obtained again is greater than the second preset speed, obtain the wheel speed that is the same as the wheel speed of the third wheel from the preset motor speeds corresponding to each of the multiple different wheel speeds associated with the third wheel, obtain the second target wheel speed, and determine the preset motor speed corresponding to the second target wheel speed as the second target motor speed; adjust the speed of the motor that drives the second wheel to rotate to the second target motor speed to adjust the wheel speed of the second wheel.

[0031] In combination with the second aspect and the above implementation manner, in some possible implementation manners, the vehicle turning control device further includes:

[0032] A reversal control unit is used to obtain the wheel speed of the second wheel; when the wheel speed of the second wheel is 0 and the duration of the wheel speed of the second wheel being 0 reaches a preset duration, the second wheel is controlled to reverse, wherein the torque direction of the second wheel after reversal is the same as the direction of travel of the vehicle.

[0033] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle turning control method in the first aspect or any possible implementation of the first aspect.

[0034] In a fourth aspect, a computer program product is provided, which includes: a computer program code, when the computer program code runs on a computer, enables the computer to execute the vehicle turning control method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0035] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the vehicle turning control method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic flow chart of a vehicle turning control method provided in an embodiment of the present application is shown;

[0037] Figure 2 A schematic diagram of wheel drive of a new energy electric vehicle is shown;

[0038] Figure 3 A schematic diagram showing a receiving signal and an output signal of an auxiliary steering system controller is shown;

[0039] Figure 4 A schematic diagram of a first type of vehicle turning provided by an embodiment of the present application is shown;

[0040] Figure 5 A schematic diagram of a second vehicle turning according to an embodiment of the present application is shown;

[0041] Figure 6 A schematic structural diagram of a vehicle turning control device provided in an embodiment of the present application is shown;

[0042] Figure 7A schematic structural diagram of a vehicle provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0043] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0044] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0045] The steering system of traditional vehicles uses the coordination of steering control mechanisms, steering transmission mechanisms, and steering gears to achieve vehicle steering. However, due to the mechanical limitations of the vehicle body size and the steering system, the minimum turning radius of the vehicle is limited, and effective steering cannot be achieved when encountering a narrow turning space. Generally speaking, in order to reduce the turning radius, the steering system needs to be redesigned, involving a large number of structural parts and complicated work. The traditional vehicle steering system only changes the deflection angle of the front wheels to achieve vehicle steering or straight driving, but does not consider the impact of the force on the rear wheels on the vehicle steering. For this reason, there is a solution to brake the rear wheel on one side to reduce the turning radius. Such solutions involve many control systems, including power systems, braking systems, steering systems, etc., and will have a certain impact on the durability and life of the mechanical system. In addition, reducing the turning radius by braking the rear wheel on one side is likely to cause tire wear and reduce the service life of the tire.

[0046] Based on the problems existing in the above-mentioned existing related technologies, the present application proposes a vehicle turning control method and a vehicle, which can reduce the turning radius of the vehicle while reducing tire wear. It can also solve the problems of complex procedures and multiple restrictions when using the braking system to brake a single rear wheel, and solve the problem that due to the complex structure of the existing steering system, if the turning radius needs to be reduced, the steering system needs to be redesigned, which faces high technical difficulties and costs.

[0047] The following is an embodiment of a vehicle turning control method provided in an embodiment of the present application.

[0048] Figure 1 A schematic flow chart of a vehicle turning control method provided by an embodiment of the present application is shown, such as Figure 1 As shown, the vehicle turning control method provided in the embodiment of the present application is applied to the auxiliary steering system controller of the vehicle. The vehicle is a new energy electric vehicle, and the front wheels and rear wheels of the vehicle are driven by motors. Among them, the two rear wheels are driven by a motor respectively, and the two front wheels are driven by a motor, or the two front wheels are driven by a motor respectively. Figure 2 As shown, Figure 2 A schematic diagram of wheel drive of a new energy electric vehicle is shown. Figure 2 In the figure, the front wheel is driven by a motor, 1 is a CAN bus interface, 2 is an auxiliary steering system controller, 3 is a front axle motor controller for controlling the front axle motor 4, 5 is a human-machine system, 6 is a rear wheel motor controller 1 for controlling the rear wheel motor 9, 7 is a rear wheel motor controller 2 for controlling the rear wheel motor 8, 10 and 11 are both front wheels, 12 and 13 are both rear wheels. Among them, 1, 3, 5, 6 and 7 are all connected to 2 in communication, 2 obtains the vehicle speed signal, steering wheel steering angle signal and accelerator pedal signal through 1, 2 can obtain the human-machine interaction signal from 5, 4 drives 10 and 11 to rotate, 8 drives 13 to rotate, and 9 drives 12 to rotate.

[0049] like Figure 3 As shown, Figure 3 The schematic diagram of the auxiliary steering system controller receiving and outputting signals is shown. The signals received by the auxiliary steering system controller include function switch signals, steering wheel steering angle signals, accelerator pedal signals, CAN bus signals and motor status signals, and the signals output by the auxiliary steering system controller include: display information and motor torque or motor speed. Among them, the function switch signal includes the on or off signal of the function switch of the following auxiliary function, the steering wheel steering angle signal includes the steering wheel steering angle, the accelerator pedal signal includes the accelerator pedal opening, the CAN bus signal includes the vehicle speed, and the motor status signal includes the normal rotation state of the motor and the abnormal state of the motor, and the abnormal state of the motor is, for example, the motor is blocked. The auxiliary steering system controller outputs the motor torque or motor speed, which is used to control the torque or speed of the motor corresponding to the wheel, so as to adjust the wheel torque or wheel speed.

[0050] The auxiliary steering system controller is called TATV (Turning Tssistance by Torque Vectoring), which includes a first functional module State and a second functional module TD. The functions of State and TD are shown in Table 1.

[0051] Table 1

[0052]

[0053]

[0054] The above vehicle turning control method includes the following schemes:

[0055] S110: When the vehicle turning activation condition is met, determining the road scene and vehicle speed of the vehicle;

[0056] S120: adjusting the torque of the front wheels and the torque of the first wheel of the vehicle according to the road scene and the vehicle speed;

[0057] S130: Acquire the wheel speed of the third wheel;

[0058] S140: Adjusting the wheel speed of the second wheel according to the vehicle speed and the wheel speed of the third wheel.

[0059] In an exemplary embodiment, the second wheel is the rear wheel close to the turning direction of the vehicle, the first wheel is the rear wheel opposite to the second wheel, and the third wheel is the front wheel close to the turning direction of the vehicle. Then the wheel speed of the third wheel is the wheel speed of the front wheel close to the turning direction of the vehicle, and the fourth wheel is the front wheel opposite to the third wheel; wherein the first wheel can also be understood as the rear wheel away from the turning direction of the vehicle, and the fourth wheel can also be understood as the front wheel away from the turning direction of the vehicle. Figure 2 , the first to fourth wheels are described according to the turning direction of the vehicle: if the turning direction of the vehicle is a left turn, the first wheel is the rear wheel 13, the second wheel is the rear wheel 12, the third wheel is the front wheel 10, and the fourth wheel is the front wheel 11; if the turning direction of the vehicle is a right turn, the first wheel is the rear wheel 12, the second wheel is the rear wheel 13, the third wheel is the front wheel 11, and the fourth wheel is the front wheel 10.

[0060] Meeting the vehicle turning activation condition indicates that the driver has the intention to drive the vehicle to turn, and the driver is assisted to control the vehicle to turn. Assisting the driver to control the vehicle to turn includes: obtaining the vehicle speed, that is, the driving speed of the vehicle, and identifying the road scene where the vehicle is currently located, and the road scene includes an uphill road scene, a downhill road scene, a flat road scene, etc. After obtaining the road scene and the speed of the vehicle, the torque of the front wheel and the torque of the first wheel of the vehicle are adjusted according to the road scene and the speed, which can also be understood as the torque distribution of the front wheel and the first wheel of the vehicle according to the road scene and the speed. Specifically, the torque required by the front wheel and the first wheel is calculated according to the road scene and the speed, and then the torque command is sent to the motor controller corresponding to the front wheel and the first wheel respectively. The motor controllers corresponding to the front wheel and the first wheel respectively respond to the received torque command, and the motor controller corresponding to the front wheel controls the motor corresponding to the front wheel to output the corresponding torque, thereby providing the required torque for the front wheel, and the motor controller corresponding to the first wheel controls the motor corresponding to the first wheel to output the corresponding torque, thereby providing the required torque for the first wheel, so as to achieve the torque adjustment of the front wheel and the first wheel of the vehicle. The torque required for the first wheel and the torque required for the front wheels may not be the same depending on the road scene. For example, if the road scene is a flat road scene, the torque required for the first wheel and the torque required for the front wheels are the same, and if the road scene is an uphill road scene or a downhill road scene, the torque required for the first wheel and the torque required for the front wheels are different.

[0061] After adjusting the torque of the front wheels of the vehicle and the torque of the first wheel, the wheel speed of the third wheel is obtained, and the target motor speed of the motor corresponding to the second wheel and the torque required by the motor corresponding to the second wheel are calculated according to the vehicle speed and the wheel speed of the third wheel. The direction of the torque is opposite to the direction of travel of the vehicle, which can be understood as a drag torque. Then, the target motor speed and drag torque of the motor corresponding to the second wheel are sent to the motor controller corresponding to the second wheel. The motor controller corresponding to the second wheel controls the motor corresponding to the second wheel to output the drag torque and reach the target motor speed, thereby adjusting the wheel speed of the second wheel and changing the torque direction, that is, the torque direction of the second wheel is opposite to the direction of travel of the vehicle, thereby reducing the turning radius of the vehicle. Among them, after adjusting the wheel speed of the second wheel, the rotation direction of the motor corresponding to the second wheel is opposite to the rotation direction of the motor corresponding to the first wheel.

[0062] In the embodiment of the present application, when the vehicle turning activation condition is met, the road scene and speed of the vehicle are determined, and according to the road scene and the speed, the torque of the front wheel of the vehicle and the torque of the first wheel (the rear wheel on the side away from the vehicle turning direction) are adjusted, the wheel speed of the third wheel (the front wheel on the side close to the vehicle turning direction) is obtained, and according to the vehicle speed and the wheel speed of the third wheel, the wheel speed of the second wheel (the rear wheel on the side close to the vehicle turning direction) is adjusted, and the torque direction of the second wheel is opposite to the vehicle's travel direction. The technical solution is implemented to reduce the vehicle turning radius in a slip control manner, and the wheel speed of the second wheel and the torque direction of the second wheel are adjusted by torque control of the motor corresponding to the second wheel and adjusting the motor speed of the motor, so that the second wheel is reversed during the turning process, so that the second wheel and the ground generate a drag force opposite to the vehicle's travel direction. The turning radius of the vehicle can be reduced while ensuring that the second wheel is within the range of the optimal slip rate, and the tire wear caused by the locking of the second wheel is reduced, which is beneficial to extending the service life of the tire.

[0063] The following Figure 1 The specific implementation methods of each step in the embodiment shown are described as follows:

[0064] In a possible implementation, when the vehicle turning activation condition is met, before determining the road scene and vehicle speed of the vehicle, the vehicle turning control method further includes the following scheme:

[0065] In a case where an assist function for reducing a vehicle turning radius is enabled, it is detected whether the vehicle turning activation condition is satisfied.

[0066] The embodiment of the present application adds a function switch for the auxiliary function of reducing the turning radius of the vehicle. The function switch is displayed to the user through the human-machine system, so that the user can manually choose to turn on or off the auxiliary function according to actual needs. When the driver needs to use the auxiliary function for reducing the turning radius of the vehicle, the function switch can be turned on in the human-machine system. After the function switch is turned on, the vehicle system will prompt that the auxiliary function is turned on and indicate the functional status of the auxiliary function. The vehicle will determine whether the vehicle turning activation conditions are met. If so, the driver will be assisted in controlling the vehicle to turn; if not, the auxiliary function will be exited.

[0067] Specifically, the vehicle turning activation condition includes at least one of the following information: the steering wheel steering angle is within a preset angle range; the vehicle speed is less than or equal to a first preset speed; the accelerator pedal opening is within a preset opening range. The steering wheel steering angle is a valid steering angle, that is, the angle generated by the driver actually turning the steering wheel; if the vehicle speed is greater than the first preset speed, the auxiliary function will also be exited to avoid turning at a higher speed, thereby ensuring driving safety.

[0068] In a possible implementation, adjusting the torque of the front wheels and the torque of the first wheel of the vehicle according to the road scene and the vehicle speed includes the following solutions:

[0069] Obtaining the number of motors driving the front wheels of the vehicle to rotate;

[0070] In the case where the number is a single one, a first preset torque adjustment strategy is adopted to adjust the torque of the front wheels and the torque of the first wheel of the vehicle;

[0071] When the number is two, a second preset torque adjustment strategy is adopted to adjust the torque of the front wheels and the torque of the first wheel of the vehicle.

[0072] Since the vehicle turning control method provided by the embodiment of the present application is applicable to the first type of vehicle and the second type of vehicle, the left and right front wheels of the first type of vehicle are driven by a motor, the left rear wheel is driven by a motor, and the right rear wheel is driven by a motor; the left front wheel of the second type of vehicle is driven by a motor, the left and right wheels are driven by a motor, the left rear wheel is driven by a motor, and the right rear wheel is driven by a motor. For the first type of vehicle and the second type of vehicle, the strategies for adjusting the torque of the front wheels and the torque of the first wheel are different. A first preset torque adjustment strategy for adjusting the torque of the front wheels and the torque of the first wheel is set in advance for the first type of vehicle, and a second preset torque adjustment strategy for adjusting the torque of the front wheels and the torque of the first wheel is set for the second type of vehicle.

[0073] When selecting a strategy, it is necessary to determine the number of motors driving the front wheels of the vehicle. If the number is one, the first preset torque adjustment strategy is used to adjust the torque of the front wheels of the vehicle and the torque of the first wheel; if the number is two, the second preset torque adjustment strategy is used to adjust the torque of the front wheels of the vehicle and the torque of the first wheel. Wherein:

[0074] The first preset torque adjustment strategy includes: a preset torque adjustment strategy includes allocating torque to the front wheels and the first wheel of the vehicle according to the road scene and the vehicle speed, reducing torque for the front wheels of the vehicle and increasing torque for the first wheel according to the vehicle speed measured after the torque is allocated to the front wheels and the first wheel of the vehicle.

[0075] The second preset torque adjustment strategy includes: allocating torque to the first wheel and the fourth wheel according to the road scenario and vehicle speed, reducing the wheel speed of the third wheel according to the vehicle speed, reducing the torque of the fourth wheel and increasing the torque of the first wheel according to the vehicle speed measured after allocating torque to the first wheel and the fourth wheel and reducing the wheel speed of the third wheel, and adjusting the wheel speed of the third wheel according to the wheel speed of the third wheel measured after allocating torque to the first wheel and the fourth wheel and reducing the wheel speed of the third wheel; the torque direction of the third wheel after adjusting the wheel speed is the same as that of the second wheel, and the fourth wheel is the front wheel opposite to the third wheel.

[0076] In a possible implementation manner, adjusting the torque of the front wheels and the torque of the first wheel of the vehicle by using the first preset torque adjustment strategy includes the following solutions:

[0077] When the vehicle speed is less than or equal to the second preset vehicle speed, obtain the first torque allocation ratio associated with the road scenario for allocating torque to the front wheels and the first wheel of the vehicle; wherein, the second preset vehicle speed is less than the first preset vehicle speed;

[0078] Allocate torque to the front wheels and the first wheel of the vehicle according to the first torque allocation ratio and the preset required torque associated with the accelerator pedal opening; and,

[0079] When allocating torque to the front wheels and the first wheel of the vehicle, obtain the vehicle speed again;

[0080] When the vehicle speed obtained again is greater than the second preset vehicle speed, reduce the torque allocated to the front wheels of the vehicle and increase the torque allocated to the first wheel.

[0081] For the case where there is one motor driving the front wheels to rotate, a first torque allocation ratio for allocating torque to the front wheels and the first wheel of the vehicle is associated with each road scenario in advance. Different road scenarios are associated with different first torque allocation ratios. Among them, the first torque allocation ratio includes QL, QR, and H. QL represents the ratio of the torque allocated to the left front wheel to the preset required torque associated with the accelerator pedal opening, QR represents the ratio of the torque allocated to the right front wheel to the preset required torque associated with the accelerator pedal opening, and H represents the ratio of the torque allocated to the first wheel to the preset required torque associated with the accelerator pedal opening. The magnitudes of QL, QR, and H are determined according to the vehicle load and the road scenario. In the flat road scenario, the vehicle load is evenly distributed to the front axle and the rear axle, that is, QL = QR = H; in the uphill road scenario, the load distributed to the rear axle is large and the load distributed to the front axle is small, that is, QL = QR < H; in the downhill road scenario, the load distributed to the rear axle is small and the load distributed to the front axle is large, that is, QL = QR > H.

[0082] When the vehicle turning activation conditions are met, if there is only one motor driving the front wheels, the first preset torque adjustment strategy is executed, that is, whether the vehicle speed is less than or equal to the second preset vehicle speed. If so, it means that the vehicle is in the starting period and the vehicle speed is very low, then the first torque distribution ratio associated with the current road scene of the vehicle is obtained, and then the torque is distributed to the front wheels and the first wheel according to the first torque distribution ratio and the preset required torque associated with the accelerator pedal opening. For example, the road scene is a flat road scene, and the first torque distribution ratio associated with the flat road scene is 0.5:0.5:0.5, that is, QL=QR=H=0.5, and the preset required torque associated with the accelerator pedal opening is A Nm, then the torque distributed to the left and right front wheels and the first wheel is 0.5A Nm.

[0083] The preset required torque associated with the accelerator pedal opening is pre-configured, and different preset required torques are associated with different accelerator pedal openings. The specific process of distributing the torque to the two front wheels and the first wheel is: according to the first torque distribution ratio and the preset required torque associated with the accelerator pedal opening, the torque required to be output by the motors corresponding to the two front wheels and the first wheel is calculated respectively, and the torque required to be output by the motors corresponding to the two front wheels and the first wheel is sent to the motor controllers corresponding to the two front wheels and the first wheel respectively, and these motor controllers control the motors corresponding to the two front wheels to output the calculated torque, thereby realizing torque distribution to the two front wheels and the first wheel.

[0084] After torque is distributed to the front wheels and the first wheel, the vehicle speed is obtained again. If the vehicle speed obtained again is greater than the second preset vehicle speed, it means that the vehicle has started and the vehicle speed has increased. Then, a motor torque reduction command is sent to the motor controller corresponding to the front wheel. The motor controller corresponding to the front wheel controls the torque output by the motor corresponding to the front wheel to gradually reduce, thereby reducing the torque distributed to the front wheels, that is, the torque of the front wheels gradually decreases. At the same time, a motor torque increase command is sent to the motor controller corresponding to the first wheel. The motor controller corresponding to the first wheel controls the torque output by the motor corresponding to the first wheel to increase, thereby increasing the torque distributed to the first wheel.

[0085] In a possible implementation, the above-mentioned use of the second preset torque adjustment strategy to adjust the torque of the front wheels and the torque of the first wheel of the vehicle includes the following schemes:

[0086] When the vehicle speed is less than or equal to a second preset vehicle speed, obtaining a second torque distribution ratio for distributing torque to the first wheel and the fourth wheel associated with the road scene; wherein the second preset vehicle speed is less than the first preset vehicle speed;

[0087] allocating torque to the first wheel and the fourth wheel according to the second torque distribution ratio and a preset required torque associated with the accelerator pedal opening;

[0088] controlling the third wheel not to rotate; and,

[0089] acquiring the vehicle speed again while distributing torque to the first wheel and the fourth wheel and controlling the third wheel not to rotate;

[0090] When the vehicle speed acquired again is greater than the second preset vehicle speed, reducing the torque allocated to the fourth wheel and increasing the torque allocated to the first wheel;

[0091] Obtaining preset motor speeds corresponding to a plurality of different wheel speeds associated with the third wheel;

[0092] Obtaining a wheel speed that is the same as the wheel speed of the third wheel from among preset motor speeds corresponding to a plurality of different wheel speeds associated with the third wheel, to obtain a first target wheel speed, and determining the preset motor speed corresponding to the first target wheel speed as the first target motor speed;

[0093] The rotation speed of the motor driving the third wheel to rotate is adjusted to the first target motor rotation speed to adjust the wheel speed of the third wheel.

[0094] In the case where there are two motors driving the front wheels to rotate, a second torque distribution ratio for distributing torque to the first wheel and the fourth wheel is associated in advance for each road scenario. Different road scenarios have different second torque distribution ratios associated with different road scenarios. Among them, the second torque distribution ratio includes L1 and L4, L1 represents the ratio of the torque distributed to the first wheel to the preset required torque associated with the accelerator pedal opening, and L4 represents the ratio of the torque distributed to the fourth wheel to the preset required torque associated with the accelerator pedal opening. The size of L1 and L4 is determined according to the vehicle load and the road scenario. In the flat road scenario, the vehicle load is evenly distributed to the front and rear axles, that is, L1=L4; in the uphill road scenario, the load distributed to the rear axle is large and the load distributed to the front axle is small, that is, L1>L4; in the downhill road scenario, the load distributed to the rear axle is small and the load distributed to the front axle is large, that is, L1>L4. <L4。

[0095] When the vehicle turning activation condition is met, if there are two motors driving the front wheels, the second preset torque adjustment strategy is executed, that is, whether the vehicle speed is less than or equal to the second preset vehicle speed. If so, it means that the vehicle is in the starting period and the vehicle speed is very low, then the second torque distribution ratio associated with the current road scene of the vehicle is obtained, and then the torque is distributed to the first wheel and the fourth wheel according to the second torque distribution ratio and the preset required torque associated with the accelerator pedal opening. For example, the road scene is a flat road scene, and the second torque distribution ratio associated with the flat road scene is 0.5:0.5, that is, L1 = L4 = 0.5, and the preset required torque associated with the accelerator pedal opening is B Nm, then the torque distributed to the first wheel and the fourth wheel is 0.5B Nm.

[0096] The specific process of distributing torque to the first wheel and the fourth wheel is: according to the second torque distribution ratio and the preset required torque associated with the accelerator pedal opening, the torque required to be output by the motors corresponding to the first wheel and the fourth wheel are calculated respectively, and the torque required to be output by the motors corresponding to the first wheel and the fourth wheel are sent to the motor controllers corresponding to the first wheel and the fourth wheel respectively. These motor controllers control the motors corresponding to them to output the calculated torque, thereby realizing torque distribution to the first wheel and the fourth wheel.

[0097] While distributing torque to the first wheel and the fourth wheel, the third wheel is also controlled not to rotate, that is, an instruction to control the motor not to rotate is sent to the motor controller corresponding to the third wheel, and the motor controller corresponding to the third wheel controls the motor corresponding to the third wheel not to rotate, that is, the torque output by the motor corresponding to the third wheel is 0, and the motor speed is also 0, the motor corresponding to the third wheel does not rotate, and the third wheel does not rotate.

[0098] After distributing torque to the first wheel and the fourth wheel and controlling the third wheel not to rotate, the vehicle speed is obtained again. If the vehicle speed obtained again is greater than the second preset vehicle speed, it means that the vehicle has started and the vehicle speed has increased. Then, a motor torque reduction command is sent to the motor controller corresponding to the fourth wheel. The motor controller corresponding to the fourth wheel controls the torque output by the motor corresponding to the fourth wheel to gradually reduce, thereby reducing the torque distributed to the fourth wheel, that is, the torque of the fourth wheel is gradually reduced. At the same time, a motor torque increase command is sent to the motor controller corresponding to the first wheel. The motor controller corresponding to the first wheel controls the torque output by the motor corresponding to the first wheel to increase, thereby increasing the torque distributed to the first wheel.

[0099] While or after reducing the torque allocated to the fourth wheel and increasing the torque allocated to the first wheel, the preset motor speeds corresponding to multiple different wheel speeds associated with the third wheel are obtained, as shown in Table 2, where a, b, c, and d can be set.

[0100] Table 2

[0101]

[0102] From the preset motor speeds corresponding to the multiple different wheel speeds associated with the third wheel, the wheel speed that is the same as the wheel speed of the third wheel is obtained to obtain the first target wheel speed, and the preset motor speed corresponding to the first target wheel speed is determined as the first target motor speed. For example, if the wheel speed of the third wheel is 15km / h, then the preset motor speed c is the first target motor speed. After obtaining the first target motor speed, the first target motor speed is sent to the motor controller corresponding to the third wheel, and the motor controller corresponding to the third wheel controls the speed of the motor corresponding to the third wheel to reach the first target motor speed, that is, the speed of the motor driving the third wheel to rotate is adjusted to the first target motor speed, thereby realizing the adjustment of the wheel speed of the third wheel, and the torque direction of the third wheel after adjusting the wheel speed is the same as the torque direction of the second wheel.

[0103] In a possible implementation, the increasing of the torque allocated to the first wheel includes the following scheme:

[0104] Obtaining a torque distribution ratio table associated with the first wheel;

[0105] Determining the third torque distribution ratio corresponding to the vehicle speed obtained again from the torque distribution ratio table to obtain a target torque distribution ratio;

[0106] Torque is distributed to the first wheel according to the target torque distribution ratio and the preset required torque to increase the torque distributed to the first wheel.

[0107] A corresponding torque distribution ratio table is associated with the first wheel in advance, and the torque distribution ratio table includes a plurality of third torque distribution ratios corresponding to different vehicle speeds, as shown in Table 3.

[0108] Table 3

[0109] Speed ​​kph 2 8 15 20 30 The third torque distribution ratio 0.5 0.8 1 1 1

[0110] The third torque distribution ratio refers to the ratio of the torque distributed to the first wheel to the preset required torque associated with the accelerator pedal opening. After the vehicle speed is obtained again, the torque distribution ratio table is queried by the vehicle speed obtained again to obtain the third torque distribution ratio corresponding to the vehicle speed obtained again, that is, the target torque distribution ratio is obtained, and then the torque required to be output by the motor corresponding to the first wheel is calculated according to the target torque distribution ratio and the preset required torque associated with the accelerator pedal opening, and the calculated torque is sent to the motor controller corresponding to the first wheel. The motor controller corresponding to the first wheel controls the motor corresponding to the first wheel to output the calculated torque, so as to distribute torque to the first wheel and increase torque for the first wheel.

[0111] In a possible implementation, adjusting the wheel speed of the second wheel according to the vehicle speed and the wheel speed of the third wheel includes the following scheme:

[0112] When the vehicle speed is less than or equal to a second preset vehicle speed, controlling the second wheel not to rotate;

[0113] In the case where the vehicle speed obtained again is greater than the second preset vehicle speed, a wheel speed that is the same as the wheel speed of the third wheel is obtained from the preset motor speeds corresponding to the plurality of different wheel speeds associated with the third wheel to obtain a second target wheel speed, and the preset motor speed corresponding to the second target wheel speed is determined as the second target motor speed;

[0114] The rotation speed of the motor driving the second wheel to rotate is adjusted to the second target motor rotation speed to adjust the wheel speed of the second wheel.

[0115] When the vehicle speed obtained when the vehicle turning activation condition is met is less than or equal to the second preset vehicle speed, the second wheel is also controlled not to rotate, that is, an instruction to control the motor not to rotate is sent to the motor controller corresponding to the second wheel, and the motor controller corresponding to the second wheel controls the motor corresponding to the second wheel not to rotate, that is, the torque output by the motor corresponding to the second wheel is 0, the motor speed is also 0, the motor corresponding to the second wheel does not rotate, and the second wheel does not rotate.

[0116] In the case where the vehicle speed obtained again is greater than the second preset vehicle speed, the wheel speed that is the same as the wheel speed of the third wheel is obtained from the preset motor speeds corresponding to the multiple different wheel speeds associated with the third wheel, and the second target wheel speed is obtained. The preset motor speed corresponding to the second target wheel speed is determined as the second target motor speed. After the second target motor speed is obtained, the second target motor speed is sent to the motor controller corresponding to the second wheel, and the motor controller corresponding to the second wheel controls the speed of the motor corresponding to the second wheel to reach the second target motor speed, that is, the speed of the motor driving the second wheel to rotate is adjusted to the second target motor speed, thereby achieving the adjustment of the wheel speed of the second wheel. After the wheel speed is adjusted, the torque direction of the second wheel is different from the direction of vehicle travel.

[0117] After the vehicle is turned in the above manner, the torque direction of each wheel is as follows: Figure 4 and Figure 5 shown.

[0118] like Figure 4 As shown, Figure 4 A schematic diagram of a turning of the first type of vehicle provided in an embodiment of the present application is shown, and the arrow indicates the torque direction of the wheel. Figure 4 The left side figure in the figure shows that the vehicle turns left, the torque direction of the front wheels 10 and 11 and the torque direction of the first wheel (right rear wheel 13) are the same as the vehicle's travel direction, and the torque direction of the second wheel (left rear wheel 12) is opposite to the vehicle's travel direction. Figure 4 The right side figure in the figure shows that the vehicle turns right, the torque direction of the front wheels 10 and 11 and the torque direction of the first wheel (left rear wheel 12) are the same as the vehicle's travel direction, and the torque direction of the second wheel (right rear wheel 13) is opposite to the vehicle's travel direction.

[0119] like Figure 5 As shown, Figure 5 A schematic diagram of a turning of the second vehicle provided in an embodiment of the present application is shown, and the arrow indicates the torque direction of the wheel. Figure 5 The left side figure in the figure shows that the vehicle turns left, the torque direction of the fourth wheel (right front wheel 11) and the torque direction of the first wheel (right rear wheel 13) are the same as the direction of vehicle travel, and the torque direction of the third wheel (left front wheel 10) and the torque direction of the second wheel (left rear wheel 12) are opposite to the direction of vehicle travel. Figure 5 The right side figure in the figure shows that the vehicle turns right, and the torque direction of the fourth wheel (left front wheel 10) and the torque direction of the first wheel (left rear wheel 12) are the same as the direction of vehicle travel, and the torque direction of the third wheel (right front wheel 11) and the torque direction of the second wheel (right rear wheel 13) are opposite to the direction of vehicle travel.

[0120] like Figure 4and Figure 5 As shown, a1 represents the traditional turning path of the vehicle, that is, the path of the vehicle turning by only changing the deflection angle of the two front wheels, and b1 represents the path of the vehicle turning by using the vehicle turning control method provided by the embodiment of the present application. By applying the vehicle turning control method provided by the embodiment of the present application, the turning radius is obviously shortened, which can ensure that the vehicle can pass the curve smoothly.

[0121] In a possible implementation, after adjusting the wheel speed of the second wheel according to the vehicle speed and the wheel speed of the third wheel, the vehicle turning control method further includes the following scheme:

[0122] acquiring the wheel speed of the second wheel;

[0123] When the wheel speed of the second wheel is 0 and the duration of the wheel speed of the second wheel being 0 reaches a preset duration, the second wheel is controlled to reverse, wherein the torque direction of the second wheel after the reversed rotation is the same as the traveling direction of the vehicle.

[0124] Taking into account that after adjusting the wheel speed of the second wheel, the torque direction of the second wheel is opposite to the direction of travel of the vehicle, special circumstances may occur, such as the motor corresponding to the second wheel is blocked, and the blocking time is too long, resulting in the second wheel being unable to rotate, the vehicle turning effect is not ideal, and it may also cause the tire of the second vehicle to wear. In this case, the second wheel needs to be adjusted to ensure that the vehicle can complete the turn.

[0125] Specifically, after adjusting the wheel speed of the second wheel, it is determined whether the motor corresponding to the second wheel is stalled, that is, the wheel speed of the second wheel is obtained. If the wheel speed of the second wheel is 0, it means that the output shaft of the motor corresponding to the second wheel does not rotate. The output shaft has no rotation speed, which causes the second wheel to be unable to rotate, resulting in the wheel speed of the second wheel being 0. Then, under the premise that the wheel speed of the second wheel is 0, it is determined whether the duration of the wheel speed of the second wheel being 0 reaches a preset duration. If the preset duration is reached, it means that the motor corresponding to the second wheel is stalled, and a reverse instruction is sent to the motor controller corresponding to the second wheel, and the motor controller corresponding to the second wheel controls the motor corresponding to the second wheel to reverse, thereby realizing reverse control of the second wheel. When the motor corresponding to the second wheel is reversely controlled, the speed of the motor corresponding to the second wheel is adjusted according to the wheel speed of the third wheel. The adjustment process is: the wheel speed of the third wheel is obtained again, and the wheel speed that is the same as the wheel speed of the third wheel obtained again is obtained from the preset motor speeds corresponding to the multiple different wheel speeds associated with the third wheel, and the third target wheel speed is obtained, and the preset motor speed corresponding to the third target wheel speed is determined as the third target motor speed. After obtaining the third target motor speed, the third target motor speed is sent to the motor controller corresponding to the second wheel, and the motor controller of the second wheel controls the speed of the motor corresponding to the second wheel to reach the third target motor speed, that is, the speed of the motor corresponding to the second wheel during the reversal process is adjusted, so as to achieve the reversal of the second wheel. Among them, the torque direction of the second wheel after reversal is the same as the direction of travel of the vehicle, so that the vehicle can turn in a traditional way, and the turning path is the above-mentioned a1, ensuring that the vehicle can complete the turn.

[0126] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0127] Figure 6 A schematic structural diagram of a vehicle turning control device provided in an embodiment of the present application is shown.

[0128] For example, Figure 6 As shown, the vehicle turning control device 600 includes:

[0129] An information acquisition module 610 is used to determine the road scene and vehicle speed of the vehicle when the vehicle turning activation condition is met;

[0130] A torque adjustment module 620, configured to adjust the torque of the front wheels and the torque of the first wheel of the vehicle according to the road scene and the vehicle speed;

[0131] The wheel speed acquisition module 630 is used to acquire the wheel speed of the third wheel; wherein the wheel speed of the third wheel is the wheel speed of the front wheel on the side close to the turning direction of the vehicle;

[0132] The speed adjustment module 640 is used to adjust the wheel speed of the second wheel according to the vehicle speed and the wheel speed of the third wheel; wherein the second wheel is the rear wheel close to the turning direction of the vehicle, the first wheel is the rear wheel opposite to the second wheel, and the torque direction of the second wheel is opposite to the traveling direction of the vehicle.

[0133] In a possible implementation, the vehicle turning control device 600 further includes:

[0134] The judgment unit is used to detect whether the vehicle turning activation condition is met when the auxiliary function for reducing the vehicle turning radius is enabled.

[0135] In a possible implementation, the vehicle turning activation condition includes at least one of the following information: the steering wheel steering angle is within a preset angle range; the vehicle speed is less than or equal to a first preset vehicle speed; and the accelerator pedal opening is within a preset opening range.

[0136] In a possible implementation, the torque adjustment module 620 includes:

[0137] A quantity acquisition unit, used to acquire the number of motors driving the front wheels of the vehicle to rotate;

[0138] a first adjustment unit, configured to, when the number is a single one, use a first preset torque adjustment strategy to adjust the torque of the front wheel and the first wheel of the vehicle; wherein the first preset torque adjustment strategy includes allocating torque to the front wheel and the first wheel of the vehicle according to the road scene and the vehicle speed, and reducing torque for the front wheel of the vehicle and increasing torque for the first wheel according to the vehicle speed measured after the torque is allocated to the front wheel and the first wheel of the vehicle;

[0139] A second adjustment unit is used to adjust the torque of the front wheels and the torque of the first wheel of the vehicle by adopting a second preset torque adjustment strategy when the number is two; wherein the second preset torque adjustment strategy includes allocating torque to the first wheel and the fourth wheel according to the road scene and the vehicle speed, reducing the wheel speed of the third wheel according to the vehicle speed, reducing the torque of the fourth wheel and increasing the torque of the first wheel according to the vehicle speed measured after allocating torque to the first wheel and the fourth wheel and reducing the wheel speed of the third wheel, and adjusting the wheel speed of the third wheel according to the wheel speed of the third wheel measured after allocating torque to the first wheel and the fourth wheel and reducing the wheel speed of the third wheel; the torque direction of the third wheel after adjusting the wheel speed is the same as the torque direction of the second wheel, and the fourth wheel is the front wheel opposite to the third wheel.

[0140] In one possible implementation, the first adjustment unit is specifically used to obtain a first torque distribution ratio associated with the road scene for distributing torque to the front wheels and the first wheel of the vehicle when the vehicle speed is less than or equal to a second preset speed; wherein the second preset speed is less than the first preset speed; distribute torque to the front wheels and the first wheel of the vehicle according to the first torque distribution ratio and a preset required torque associated with the accelerator pedal opening; and, when distributing torque to the front wheels and the first wheel of the vehicle, obtain the vehicle speed again; when the vehicle speed obtained again is greater than the second preset speed, reduce the torque allocated to the front wheels of the vehicle and increase the torque allocated to the first wheel.

[0141] In a possible implementation, the second adjustment unit is specifically configured to obtain, when the vehicle speed is less than or equal to a second preset vehicle speed, a second torque distribution ratio for distributing torque to the first wheel and the fourth wheel associated with the road scene; wherein the second preset vehicle speed is less than the first preset vehicle speed; distribute torque to the first wheel and the fourth wheel according to the second torque distribution ratio and a preset required torque associated with the accelerator pedal opening; control the third wheel not to rotate; and, when the torque is distributed to the first wheel and the fourth wheel and the third wheel is controlled not to rotate, obtain the vehicle speed again; and when the torque is distributed to the first wheel and the fourth wheel and the third wheel is controlled not to rotate, obtain the vehicle speed again; and when the torque is distributed to the first wheel and the fourth wheel and the third wheel is controlled not to rotate, obtain the vehicle speed again. When the acquired vehicle speed is greater than the second preset vehicle speed, the torque allocated to the fourth wheel is reduced, and the torque allocated to the first wheel is increased; the preset motor speeds corresponding to each of the multiple different wheel speeds associated with the third wheel are acquired; from the preset motor speeds corresponding to each of the multiple different wheel speeds associated with the third wheel, the wheel speed that is the same as the wheel speed of the third wheel is acquired to obtain the first target wheel speed, and the preset motor speed corresponding to the first target wheel speed is determined as the first target motor speed; the speed of the motor that drives the third wheel to rotate is adjusted to the first target motor speed to adjust the wheel speed of the third wheel.

[0142] In one possible implementation, the first adjustment unit or the second adjustment unit is specifically used to increase the torque allocated to the first wheel by: obtaining a torque distribution ratio table associated with the first wheel; wherein the torque distribution ratio table includes a plurality of third torque distribution ratios corresponding to different vehicle speeds; determining the third torque distribution ratio corresponding to the vehicle speed acquired again from the torque distribution ratio table to obtain a target torque distribution ratio; and allocating torque to the first wheel according to the target torque distribution ratio and the preset required torque to increase the torque allocated to the first wheel.

[0143] In one possible implementation, the speed adjustment module 640 is specifically used to: when the vehicle speed is less than or equal to a second preset speed, control the second wheel not to rotate; when the vehicle speed obtained again is greater than the second preset speed, obtain the wheel speed that is the same as the wheel speed of the third wheel from the preset motor speeds corresponding to each of a plurality of different wheel speeds associated with the third wheel to obtain a second target wheel speed, and determine the preset motor speed corresponding to the second target wheel speed as the second target motor speed; adjust the speed of the motor that drives the second wheel to rotate to the second target motor speed to adjust the wheel speed of the second wheel.

[0144] In a possible implementation, the vehicle turning control device 600 further includes:

[0145] A reversal control unit is used to obtain the wheel speed of the second wheel; when the wheel speed of the second wheel is 0 and the duration of the wheel speed of the second wheel being 0 reaches a preset duration, the second wheel is controlled to reverse, wherein the torque direction of the second wheel after reversal is the same as the direction of travel of the vehicle.

[0146] It should be noted that the vehicle turning control device provided in the above embodiment only uses the division of the above functional modules as an example when executing the vehicle turning control method. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle turning control device provided in the above embodiment and the vehicle turning control method embodiment belong to the same concept. Therefore, for details not disclosed in the device embodiment of the present application, please refer to the above-mentioned vehicle turning control method embodiment of the present application, which will not be repeated here.

[0147] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0148] Figure 7 A schematic structural diagram of a vehicle provided in an embodiment of the present application is shown.

[0149] For example, Figure 7 As shown, the vehicle 700 includes: a memory 701 and a processor 702, wherein the memory 701 stores an executable program code 7011, and the processor 702 is used to call and execute the executable program code 7011 to perform a vehicle turning control method.

[0150] In this embodiment, the functional modules of the vehicle can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0151] In the case of dividing each functional module according to each function, the vehicle may include: an information acquisition module, a torque adjustment module, a wheel speed acquisition module, a speed adjustment module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0152] The vehicle provided in this embodiment is used to execute the above-mentioned vehicle turning control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0153] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle to execute mutual program codes and data.

[0154] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits disclosed in the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0155] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a vehicle turning control method in the above-mentioned embodiment.

[0156] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle turning control method in the above-mentioned embodiment.

[0157] In addition, the vehicle provided in the embodiments of the present application may specifically be a chip, component or module, and the vehicle may include a connected processor and memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor may call and execute instructions so that the chip executes a vehicle turning control method in the above-mentioned embodiments.

[0158] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding vehicle turning control method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding vehicle turning control method provided above, and will not be repeated here.

[0159] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0160] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0161] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle turning control method, characterized in that: The vehicle turning control method comprises: When the vehicle turning activation condition is met, determining the road scene and vehicle speed of the vehicle; adjusting the torque of the front wheels and the torque of the first wheel of the vehicle according to the road scene and the vehicle speed; Obtaining the wheel speed of the third wheel; wherein the wheel speed of the third wheel is the wheel speed of the front wheel on the side close to the turning direction of the vehicle; The wheel speed of the second wheel is adjusted according to the vehicle speed and the wheel speed of the third wheel; wherein the second wheel is a rear wheel close to the turning direction of the vehicle, the first wheel is a rear wheel opposite to the second wheel, and the torque direction of the second wheel is opposite to the traveling direction of the vehicle.

2. The vehicle turning control method according to claim 1, characterized in that: When the vehicle turning activation condition is met, before determining the road scene and vehicle speed of the vehicle, the vehicle turning control method further includes: In a case where an assist function for reducing a vehicle turning radius is enabled, it is detected whether the vehicle turning activation condition is satisfied.

3. The vehicle turning control method according to claim 2, characterized in that: The vehicle turning activation condition includes at least one of the following information: The steering wheel angle is within the preset angle range; The vehicle speed is less than or equal to a first preset vehicle speed; The accelerator pedal opening is within the preset opening range.

4. The vehicle turning control method according to claim 3, characterized in that: The adjusting the torque of the front wheels and the torque of the first wheel of the vehicle according to the road scene and the vehicle speed comprises: Obtaining the number of motors driving the front wheels of the vehicle to rotate; In the case where the number is a single one, a first preset torque adjustment strategy is adopted to adjust the torque of the front wheels and the torque of the first wheel of the vehicle; wherein the first preset torque adjustment strategy includes allocating torque to the front wheels and the first wheel of the vehicle according to the road scene and the vehicle speed, and reducing torque for the front wheels of the vehicle and increasing torque for the first wheel according to the vehicle speed measured after the torque is allocated to the front wheels and the first wheel of the vehicle; When the number is two, a second preset torque adjustment strategy is adopted to adjust the torque of the front wheels and the torque of the first wheel of the vehicle; wherein the second preset torque adjustment strategy includes allocating torque to the first wheel and the fourth wheel according to the road scene and the vehicle speed, reducing the wheel speed of the third wheel according to the vehicle speed, reducing the torque of the fourth wheel and increasing the torque of the first wheel according to the vehicle speed measured after allocating torque to the first wheel and the fourth wheel and reducing the wheel speed of the third wheel, and adjusting the wheel speed of the third wheel according to the wheel speed of the third wheel measured after allocating torque to the first wheel and the fourth wheel and reducing the wheel speed of the third wheel; the torque direction of the third wheel after adjusting the wheel speed is the same as the torque direction of the second wheel, and the fourth wheel is the front wheel opposite to the third wheel.

5. The vehicle turning control method according to claim 4, characterized in that: The adopting a first preset torque adjustment strategy to adjust the torque of the front wheels and the torque of the first wheel of the vehicle comprises: When the vehicle speed is less than or equal to a second preset vehicle speed, obtaining a first torque distribution ratio associated with the road scene for distributing torque between the front wheels of the vehicle and the first wheel; wherein the second preset vehicle speed is less than the first preset vehicle speed; Allocating torque to the front wheels and the first wheel of the vehicle according to the first torque distribution ratio and a preset required torque associated with the accelerator pedal opening; and, acquiring the vehicle speed again while distributing torque to the front wheels and the first wheel of the vehicle; When the vehicle speed acquired again is greater than the second preset vehicle speed, the torque allocated to the front wheels of the vehicle is reduced, and the torque allocated to the first wheels is increased.

6. The vehicle turning control method according to claim 4, characterized in that: The adopting the second preset torque adjustment strategy to adjust the torque of the front wheels and the torque of the first wheel of the vehicle comprises: When the vehicle speed is less than or equal to a second preset vehicle speed, obtaining a second torque distribution ratio for distributing torque to the first wheel and the fourth wheel associated with the road scene; wherein the second preset vehicle speed is less than the first preset vehicle speed; allocating torque to the first wheel and the fourth wheel according to the second torque distribution ratio and a preset required torque associated with the accelerator pedal opening; controlling the third wheel not to rotate; and, acquiring the vehicle speed again while distributing torque to the first wheel and the fourth wheel and controlling the third wheel not to rotate; When the vehicle speed acquired again is greater than the second preset vehicle speed, reducing the torque allocated to the fourth wheel and increasing the torque allocated to the first wheel; Obtaining preset motor speeds corresponding to a plurality of different wheel speeds associated with the third wheel; Obtaining a wheel speed that is the same as the wheel speed of the third wheel from among preset motor speeds corresponding to a plurality of different wheel speeds associated with the third wheel, to obtain a first target wheel speed, and determining the preset motor speed corresponding to the first target wheel speed as the first target motor speed; The rotation speed of the motor driving the third wheel to rotate is adjusted to the first target motor rotation speed to adjust the wheel speed of the third wheel.

7. The vehicle turning control method according to claim 5 or 6, characterized in that: The increasing the torque distributed to the first wheel comprises: Obtaining a torque distribution ratio table associated with the first wheel; wherein the torque distribution ratio table includes third torque distribution ratios corresponding to a plurality of different vehicle speeds; Determining the third torque distribution ratio corresponding to the vehicle speed obtained again from the torque distribution ratio table to obtain a target torque distribution ratio; Torque is distributed to the first wheel according to the target torque distribution ratio and the preset required torque to increase the torque distributed to the first wheel.

8. The vehicle turning control method according to claim 5 or 6, characterized in that: The adjusting the wheel speed of the second wheel according to the vehicle speed and the wheel speed of the third wheel comprises: When the vehicle speed is less than or equal to a second preset vehicle speed, controlling the second wheel not to rotate; In the case where the vehicle speed obtained again is greater than the second preset vehicle speed, a wheel speed that is the same as the wheel speed of the third wheel is obtained from the preset motor speeds corresponding to the plurality of different wheel speeds associated with the third wheel to obtain a second target wheel speed, and the preset motor speed corresponding to the second target wheel speed is determined as the second target motor speed; The rotation speed of the motor driving the second wheel to rotate is adjusted to the second target motor rotation speed to adjust the wheel speed of the second wheel.

9. The vehicle turning control method according to claim 1, characterized in that: After adjusting the wheel speed of the second wheel according to the vehicle speed and the wheel speed of the third wheel, the vehicle turning control method further includes: acquiring the wheel speed of the second wheel; When the wheel speed of the second wheel is 0 and the duration of the wheel speed of the second wheel being 0 reaches a preset duration, the second wheel is controlled to reverse, wherein the torque direction of the second wheel after the reversed rotation is the same as the traveling direction of the vehicle.

10. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle turning control method as described in any one of claims 1 to 9.

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