Vehicle control method and system, vehicle and storage medium

Abstract

The invention discloses a vehicle control method and system, a vehicle and a storage medium, and the vehicle control method comprises the steps: obtaining an in-situ turning-around control instruction; in response to the in-situ turning-around control instruction, according to in-situ turning-around control parameters, the vehicle is controlled to turn around in situ and a turning-around result is determined, the in-situ turning-around control parameters comprise a set direction, a set rotating speed and a set rotating angle, the set direction is a clockwise direction or an anticlockwise direction, the set rotating speed is an angular velocity of the vehicle deflecting around a turning-around center, and the set rotating angle is an angular velocity of the vehicle deflecting around the turning-around center; the set corner is an included angle between the current position and the target position of the headstock. The technical problem that in the prior art, an in-situ turning-around control strategy lacks control diversity and cannot meet user requirements is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of hybrid vehicles, and in particular, relates to a vehicle control method, system, vehicle and storage medium. Background Art

[0002] Distributed 4WD configuration, also known as distributed all-wheel drive system, is a vehicle drive technology that allows the four wheels of a vehicle to receive power independently, thereby improving the vehicle's traction, stability and handling. In a distributed 4WD system, each wheel is powered by an independent drive unit (usually an electric motor) instead of transmitting power from the engine to all wheels through a traditional drive shaft.

[0003] The U-turn function usually relies on the ability of four-wheel independent drive. The following is the principle of achieving this function. The first is four-wheel independent control. In the distributed four-wheel drive system, each wheel is driven by an independent motor, allowing the speed and torque of each wheel to be controlled individually. The second is the reverse rotation of the wheels: to achieve a U-turn on the spot, the system will make the left and right wheels of the vehicle rotate in opposite directions, but at a lower speed.

[0004] However, the on-the-spot U-turn control strategy in the prior art lacks control diversity and cannot meet user needs. Summary of the invention

[0005] The embodiments of the present invention provide a vehicle control method, system, vehicle and storage medium to at least solve the technical problem that the on-the-spot U-turn control strategy in the prior art lacks control diversity and cannot meet user needs.

[0006] According to a first aspect of an embodiment of the present invention, a vehicle control method is provided, comprising: obtaining an on-the-spot U-turn control instruction; in response to the on-the-spot U-turn control instruction, controlling the vehicle to make an on-the-spot U-turn and determining a U-turn result according to on-the-spot U-turn control parameters, wherein the on-the-spot U-turn control parameters include a set direction, a set speed, and a set turning angle, the set direction is clockwise or counterclockwise, the set speed is the angular velocity of the vehicle deflecting around the U-turn center, and the set turning angle is the angle between the current position of the vehicle head and the target position.

[0007] Optionally, in response to an on-the-spot U-turn control instruction, according to the on-the-spot U-turn control parameters, the vehicle is controlled to make a on-the-spot U-turn and a U-turn result is determined, including: in response to the on-the-spot U-turn control instruction, the vehicle functions in a preset function list are turned off to obtain a turning-off result; in response to the turning-off result indicating that the vehicle functions in the preset function list are turned off successfully, according to the on-the-spot U-turn control parameters, the vehicle is controlled to make a on-the-spot U-turn and a U-turn result is determined.

[0008] Optionally, in response to a U-turn control instruction, according to the U-turn control parameters, the vehicle is controlled to make a U-turn on the spot and a U-turn result is determined, including: in response to the U-turn control instruction, the steering wheel angle of the vehicle is controlled to be zero and the gear position of the vehicle is controlled to be switched to a forward gear; in response to the steering wheel angle of the vehicle being zero and the gear position of the vehicle being a forward gear, according to the U-turn control parameters, the vehicle is controlled to make a U-turn on the spot and a U-turn result is determined.

[0009] Optionally, in response to an on-the-spot U-turn control instruction, according to the on-the-spot U-turn control parameters, the vehicle is controlled to make a on-the-spot U-turn and a U-turn result is determined, including: in response to the on-the-spot U-turn control instruction, the vehicle wheel speed is determined according to a set speed and a preset speed comparison table; according to the vehicle wheel speed, the set direction and the set turning angle, the vehicle is controlled to make a on-the-spot U-turn and a U-turn result is determined.

[0010] Optionally, in response to an on-the-spot U-turn control instruction, the vehicle wheel speed is determined according to a set speed and a preset speed comparison table, including: determining the initial motor speed according to the set speed and the preset speed comparison table; determining the vehicle wheel speed according to the initial motor speed and a preset speed ratio between the motor and the wheel end.

[0011] Optionally, the vehicle wheel speed is determined based on the initial motor speed and the preset speed ratio between the motor and the wheel end, including: obtaining the vehicle's yaw angular velocity; comparing the vehicle's yaw angular velocity with the expected angular velocity to obtain a comparison result; adjusting the initial motor speed based on the comparison result to determine the adjusted torque; determining the vehicle wheel speed based on the adjusted torque and the preset speed ratio.

[0012] Optionally, the U-turn results include expected termination and unexpected termination, wherein expected termination includes termination due to active intervention by the driver, and unexpected termination includes termination due to fault, electric drive system overheating, excessive slope, collision risk, and misoperation.

[0013] Optionally, determining the U-turn result includes: obtaining a current deflection angle of the vehicle; in response to a difference between the current deflection angle and a set turning angle being less than a preset angle threshold, controlling the output torque of the vehicle to decrease until the current deflection angle is equal to the preset angle threshold, thereby determining that the U-turn on the spot is completed.

[0014] According to a second aspect of an embodiment of the present invention, a vehicle control system is also provided, including: an acquisition module, used to obtain an on-the-spot U-turn control instruction; a control module, used to respond to the on-the-spot U-turn control instruction, control the vehicle to make an on-the-spot U-turn and determine the U-turn result according to the on-the-spot U-turn control parameters, wherein the on-the-spot U-turn control parameters include a set direction, a set speed and a set turning angle, the set direction is clockwise or counterclockwise, the set speed is the angular velocity of the vehicle deflecting around the U-turn center, and the set turning angle is the angle between the current position of the vehicle head and the target position.

[0015] Optionally, the control module is also used to: in response to an on-the-spot U-turn control instruction, shut down the vehicle functions in the preset function list and obtain a shut-down result; in response to the shut-down result indicating that the vehicle functions in the preset function list are successfully shut down, control the vehicle to make an on-the-spot U-turn and determine the U-turn result according to the on-the-spot U-turn control parameters.

[0016] Optionally, the control module is also used to: in response to a U-turn control instruction, control the steering wheel angle in the vehicle to zero and control the gear position of the vehicle to switch to a forward gear; in response to the steering wheel angle in the vehicle being zero and the gear position of the vehicle being a forward gear, control the vehicle to make a U-turn on the spot and determine the U-turn result according to the U-turn control parameters.

[0017] Optionally, the control module is also used to: respond to an on-the-spot U-turn control instruction, determine the vehicle wheel speed according to a set speed and a preset speed comparison table; control the vehicle to make an on-the-spot U-turn and determine the U-turn result according to the vehicle wheel speed, set direction and set turning angle.

[0018] Optionally, the control module is also used to: determine the initial speed of the motor according to a set speed and a preset speed comparison table; determine the vehicle wheel speed according to the initial speed of the motor and a preset speed ratio between the motor and the wheel end.

[0019] Optionally, the control module is also used to: obtain the vehicle's yaw angular velocity; compare the vehicle's yaw angular velocity with the expected angular velocity to obtain a comparison result; adjust the initial speed of the motor based on the comparison result to determine the adjusted torque; determine the vehicle wheel speed based on the adjusted torque and a preset speed ratio.

[0020] Optionally, the U-turn results determined by the control module include expected termination and unexpected termination, wherein the expected termination includes termination due to active intervention by the driver, and the unexpected termination includes termination due to fault, overheating of the electric drive system, excessive slope, collision risk and misoperation.

[0021] Optionally, the control module is also used to: obtain the current deflection angle of the vehicle; in response to the difference between the current deflection angle and the set turning angle being less than a preset angle threshold, control the output torque of the vehicle to decrease until the current deflection angle is equal to the preset angle threshold, thereby determining that the on-the-spot U-turn is completed.

[0022] According to a third aspect of an embodiment of the present invention, a vehicle is also provided, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the vehicle control method described in any embodiment of the first aspect above.

[0023] According to a fourth aspect of an embodiment of the present invention, a non-volatile storage medium is also provided, in which a computer program is stored, wherein the computer program is configured to execute the vehicle control method described in any embodiment of the first aspect when running on a computer or a processor.

[0024] According to a fifth aspect of an embodiment of the present invention, a computer program product is also provided, including a computer program, which, when executed by a processor, implements the vehicle control method described in any embodiment of the first aspect above.

[0025] In an embodiment of the present invention, a U-turn control instruction is first obtained; in response to the U-turn control instruction, the vehicle is controlled to make a U-turn on the spot and the U-turn result is determined according to the U-turn control parameters on the spot, wherein the U-turn control parameters on the spot include a set direction, a set speed and a set angle, the set direction is a clockwise direction or a counterclockwise direction, the set speed is the angular velocity of the vehicle deflecting around the U-turn center, and the set angle is the angle between the current position of the vehicle head and the target position. The present invention can achieve diversified control of the U-turn function on the spot by setting the direction, angle and speed of the U-turn on the spot, thereby solving the technical problem that the U-turn control strategy in the prior art lacks control diversity and cannot meet user needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0027] Figure 1 is a flow chart of a vehicle control method according to one embodiment of the present invention;

[0028] Figure 2 is a flowchart of a vehicle control method according to one embodiment of the present invention;

[0029] Figure 3 is a schematic diagram of the principle of an on-the-spot U-turn according to one embodiment of the present invention;

[0030] Figure 4 is a schematic diagram of a motor speed regulation process according to one embodiment of the present invention;

[0031] Figure 5 is a structural block diagram of a vehicle control system according to one embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] According to an embodiment of the present invention, an embodiment of a vehicle control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system containing at least one set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0035] The method embodiment can also be executed in an electronic device including a memory and a processor, a similar control device or a cloud. Taking an electronic device as an example, the electronic device may include one or more processors and a memory for storing data. Optionally, the electronic device may also include a communication device and a display device for communication functions. It can be understood by those of ordinary skill in the art that the above structural description is only illustrative and does not limit the structure of the above electronic device. For example, the electronic device may also include more or fewer components than the above structural description, or have a configuration different from the above structural description.

[0036] The processor may include one or more processing units. For example, the processor may include a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a field-programmable gate array (FPGA), a neural network processor (NPU), a tensor processing unit (TPU), an artificial intelligence (AI) type processor, and the like. Among them, different processing units may be independent components or integrated into one or more processors. In some instances, the electronic device may also include one or more processors.

[0037] The memory can be used to store computer programs, such as storing the computer program corresponding to the vehicle control method in the embodiment of the present invention, and the processor implements the above-mentioned vehicle control method by running the computer program stored in the memory. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include a memory remotely arranged relative to the processor, and these remote memories can be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0038] The communication device is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the communication device includes a network adapter (network interface controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the communication device can be a radio frequency (radio frequency, RF) module, which is used to communicate with the Internet wirelessly. In some embodiments of the present solution, the communication device is used to connect to mobile devices such as mobile phones and tablets, and instructions can be sent to electronic devices through the mobile device.

[0039] The display device may be a touch screen type liquid crystal display (LCD) and a touch display (also referred to as a "touch screen" or "touch display screen"). The liquid crystal display may enable a user to interact with a user interface of the electronic device. In some embodiments, the electronic device has a graphical user interface (GUI), and a user may interact with the GUI by finger contacts and / or gestures on a touch sensitive surface, and executable instructions for executing the above human-computer interaction functions are configured / stored in a computer program product or a readable storage medium executable by one or more processors.

[0040] Figure 1 is a flow chart of a vehicle control method according to one embodiment of the present invention, the method is applied to a hybrid vehicle, such as Figure 1 As shown, the method comprises the following steps:

[0041] Step S101, obtaining a U-turn control instruction on the spot.

[0042] Step S102, in response to the on-the-spot U-turn control instruction, according to the on-the-spot U-turn control parameters, control the vehicle to make a on-the-spot U-turn and determine the U-turn result, wherein the on-the-spot U-turn control parameters include a set direction, a set speed and a set turning angle, the set direction is clockwise or counterclockwise, the set speed is the angular velocity of the vehicle deflecting around the U-turn center, and the set turning angle is the angle between the current position of the vehicle head and the target position.

[0043] In an embodiment of the present invention, a U-turn control instruction is first obtained; in response to the U-turn control instruction, the vehicle is controlled to make a U-turn on the spot and the U-turn result is determined according to the U-turn control parameters on the spot, wherein the U-turn control parameters on the spot include a set direction, a set speed and a set angle, the set direction is a clockwise direction or a counterclockwise direction, the set speed is the angular velocity of the vehicle deflecting around the U-turn center, and the set angle is the angle between the current position of the vehicle head and the target position. The present invention can achieve diversified control of the U-turn function on the spot by setting the direction, angle and speed of the U-turn on the spot, thereby solving the technical problem that the U-turn control strategy in the prior art lacks control diversity and cannot meet user needs.

[0044] Optionally, in response to an on-the-spot U-turn control instruction, according to the on-the-spot U-turn control parameters, the vehicle is controlled to make a on-the-spot U-turn and a U-turn result is determined, including: in response to the on-the-spot U-turn control instruction, the vehicle functions in a preset function list are turned off to obtain a turning-off result; in response to the turning-off result indicating that the vehicle functions in the preset function list are turned off successfully, according to the on-the-spot U-turn control parameters, the vehicle is controlled to make a on-the-spot U-turn and a U-turn result is determined.

[0045] Optionally, in response to a U-turn control instruction, according to the U-turn control parameters, the vehicle is controlled to make a U-turn on the spot and a U-turn result is determined, including: in response to the U-turn control instruction, the steering wheel angle of the vehicle is controlled to be zero and the gear position of the vehicle is controlled to be switched to a forward gear; in response to the steering wheel angle of the vehicle being zero and the gear position of the vehicle being a forward gear, according to the U-turn control parameters, the vehicle is controlled to make a U-turn on the spot and a U-turn result is determined.

[0046] Optionally, in response to an on-the-spot U-turn control instruction, according to the on-the-spot U-turn control parameters, the vehicle is controlled to make a on-the-spot U-turn and a U-turn result is determined, including: in response to the on-the-spot U-turn control instruction, the vehicle wheel speed is determined according to a set speed and a preset speed comparison table; according to the vehicle wheel speed, the set direction and the set turning angle, the vehicle is controlled to make a on-the-spot U-turn and a U-turn result is determined.

[0047] Optionally, in response to an on-the-spot U-turn control instruction, the vehicle wheel speed is determined according to a set speed and a preset speed comparison table, including: determining the initial motor speed according to the set speed and the preset speed comparison table; determining the vehicle wheel speed according to the initial motor speed and a preset speed ratio between the motor and the wheel end.

[0048] Optionally, the vehicle wheel speed is determined based on the initial motor speed and the preset speed ratio between the motor and the wheel end, including: obtaining the vehicle's yaw angular velocity; comparing the vehicle's yaw angular velocity with the expected angular velocity to obtain a comparison result; adjusting the initial motor speed based on the comparison result to determine the adjusted torque; determining the vehicle wheel speed based on the adjusted torque and the preset speed ratio.

[0049] Optionally, the U-turn results include expected termination and unexpected termination, wherein expected termination includes termination due to active intervention by the driver, and unexpected termination includes termination due to fault, electric drive system overheating, excessive slope, collision risk, and misoperation.

[0050] Optionally, determining the U-turn result includes: obtaining a current deflection angle of the vehicle; in response to a difference between the current deflection angle and a set turning angle being less than a preset angle threshold, controlling the output torque of the vehicle to decrease until the current deflection angle is equal to the preset angle threshold, thereby determining that the U-turn on the spot is completed.

[0051] For example, refer to Figure 2 , the specific implementation of the above embodiment is as follows:

[0052] The vehicle control method includes control command setting before function activation, shielding of some functions and information reminder when the function is activated, some basic operations of the vehicle taken over by the system when the function is started, analysis of the driver's set parameters, torque adjustment based on slip rate and slope, detection of expected and unexpected termination conditions, information interaction prompts for expected and unexpected function termination, and terminal torque adjustment and other functions.

[0053] Instruction setting: In the control interface of the U-turn on the spot, the driver can set the relevant instructions for the U-turn on the spot. These include: direction, speed, angle, etc. Direction refers to whether the front of the vehicle deflects in a "clockwise" or "counterclockwise" direction; speed refers to the angular velocity of the vehicle deflecting around the center. There are 5 speed gears to choose from from low to high, and each gear corresponds to a different deflection angular velocity; angle refers to the angle between the current position of the front of the vehicle and the target position, the unit is degree, the value range is 360 degrees, and the accuracy is 1 degree.

[0054] Function activation: After completing the above operations, the driver clicks the "Start" button to activate the U-turn function. The instrument panel or central control screen issues a prompt "U-turn is about to start, please shift gears, brake or operate the steering wheel to take over the vehicle", and the functions shown in Table 1 are turned off at the same time.

[0055] Table 1

[0056]

[0057]

[0058] Steering return: The system controls the steering wheel and adjusts the steering angle to 0 degrees, so that the wheels face straight forward, that is, parallel to the direction of the front of the vehicle.

[0059] Gear shift: The system controls the transmission and switches the gear to D gear to facilitate the calculation of output torque.

[0060] Determine the wheel steering: The system determines the steering of the left and right wheels based on the "direction" command set by the driver. When the direction is set to "clockwise", the left wheel turns forward and the right wheel turns backward; similarly, when the direction is set to "counterclockwise", the left wheel turns backward and the right wheel turns forward. Figure 3 shown.

[0061] Determine the vehicle wheel speed: The system determines the wheel speed based on the "speed" gear selected by the driver above. The equivalent deflection time corresponding to the five gears is shown in Table 2. The initial speed of the wheel end can be calculated by n1 = n0 / i. Here n1, n0, and i represent the wheel end speed, the initial motor speed, and the speed ratio from the motor to the wheel end, respectively.

[0062] Table 2

[0063] Gear Initial motor speed, rpm Deflection angular velocity, ° / s Equivalent deflection time, s Gear 1 1500 18 20 Gear 2 1250 15 24 Gear 3 1000 12 30 Gear 4 840 10 36 Gear 5 750 9 40

[0064] Combined with slip rate adjustment: The process of turning on the spot is the process of sliding and rubbing between the tire and the bottom edge, which is generally referred to as "hard friction" between the tire and the ground. However, the different adhesion coefficients of different road surfaces will cause different slip rates between the tire and different ground surfaces, which will result in the initial wheel-end speed not necessarily being able to achieve the expected equivalent deflection angular velocity or equivalent deflection time. For this reason, it is necessary to combine the slip rate to perform negative feedback adjustment on the initial speed of each wheel end, that is, to dynamically adjust the output torque of each drive motor so that the vehicle's deflection speed is maintained and stabilized at the angular velocity of the current gear as much as possible. For details, Figure 4 shown.

[0065] First, the vehicle VCU determines the wheel speed of the vehicle based on the driver's current gear position, and then sends the motor speed command through the VCU. The motor responds to the VCU speed request and makes the wheel reach the wheel speed. The current yaw rate of the vehicle is further obtained. If the yaw rate is lower than the expected value, the VCU increases the motor speed request target value. If the yaw angle is higher than the expected value, the VCU reduces the motor speed request target value.

[0066] Unexpected termination: refers to the original U-turn function being terminated due to unexpected obstacles during the process, including termination due to fault, termination due to overheating of the electric drive system, termination due to excessive slope, termination due to obstacle recognition, and termination due to misoperation.

[0067] For specific fault items involved in failure termination, see Table 3:

[0068] Table 3

[0069]

[0070] Overheating of the electric drive system indicates poor heat dissipation, the drive motor cannot perform at its rated capacity, and there may even be certain safety risks;

[0071] The road slope is too large: As the road slope increases, the slope resistance that the drive motor needs to overcome will increase. When the road slope is greater than X% (calibrable), the drive motor will not be able to complete the original U-turn according to the established setting requirements, and the vehicle may even overturn.

[0072] During the U-turn, the vehicle uses the meter-wave radar and camera imaging analysis to comprehensively determine whether there are obstacles around the vehicle that may affect the U-turn. When a collision risk is identified, the U-turn will be terminated.

[0073] Termination due to incorrect operation: During the U-turn on the spot, if any of the four doors, including the hood, trunk door, charging port, and fuel tank cap, is opened, or the driver operates the shift handle to attempt to shift gears, the system will terminate the U-turn on the spot function.

[0074] When the on-the-spot U-turn function is terminated due to different reasons, the instrument or central control screen will have corresponding prompt information, as shown in Table 4.

[0075] Table 4

[0076] Serial number Termination reason Tips 1 Cause "A malfunction has occurred, and the turn-around function has been terminated" 2 Electric drive system overheating "System overheated, turn-around function terminated" 3 Too steep a slope "The slope is too large, the U-turn function is terminated" 4 Obstacle detected "An obstacle is detected, and the U-turn function is terminated" 5 Misoperation detected "Special operation detected, the on-the-spot U-turn function terminated"

[0077] Expected termination: refers to the situation where the driver can actively take some actions to terminate the U-turn function and take over the vehicle while the U-turn function is in progress. This includes: the steering torque of the steering wheel is greater than x Nm (calibrable), or the brake pedal is pressed. When the driver takes over the vehicle through operation and terminates the U-turn function, the instrument panel or central control screen will issue a corresponding prompt message, "You have taken over the vehicle, and the U-turn function has been exited."

[0078] Terminal adjustment: When the deflection angle of the front of the vehicle is less than θ (calibrable) from the target angle set by the driver, the system will gradually reduce the output torque through PI adjustment to prevent the vehicle from shaking when it reaches the target angle, thereby improving driving comfort.

[0079] Arrival at target turning angle: When the vehicle deviates to the set target angle, it indicates that the on-the-spot U-turn is successfully completed and the on-the-spot U-turn function automatically exits.

[0080] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), including a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0081] In this embodiment, a vehicle control system is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" is a combination of software and / or hardware that can implement a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0082] Figure 5 is a structural block diagram of a vehicle control system 200 according to one embodiment of the present invention. Figure 5As shown, a vehicle control system 200 is taken as an example, including: an acquisition module 201, used for acquiring an on-the-spot U-turn control instruction; a control module 202, used for responding to the on-the-spot U-turn control instruction, controlling the vehicle to make an on-the-spot U-turn and determining the U-turn result according to the on-the-spot U-turn control parameters, wherein the on-the-spot U-turn control parameters include a set direction, a set speed and a set turning angle, the set direction is clockwise or counterclockwise, the set speed is the angular velocity of the vehicle deflecting around the U-turn center, and the set turning angle is the angle between the current position of the vehicle head and the target position.

[0083] Optionally, the control module 202 is also used to: respond to an on-the-spot U-turn control instruction, shut down the vehicle functions in the preset function list and obtain a shut-down result; in response to the shut-down result indicating that the vehicle functions in the preset function list are successfully shut down, control the vehicle to make an on-the-spot U-turn and determine the U-turn result according to the on-the-spot U-turn control parameters.

[0084] Optionally, the control module 202 is also used to: in response to a U-turn control instruction, control the steering wheel angle of the vehicle to zero and control the gear position of the vehicle to switch to a forward gear; in response to the steering wheel angle of the vehicle being zero and the gear position of the vehicle being a forward gear, control the vehicle to make a U-turn on the spot and determine the U-turn result according to the U-turn control parameters.

[0085] Optionally, the control module 202 is also used to: respond to an on-the-spot U-turn control instruction, determine the vehicle wheel speed according to a set speed and a preset speed comparison table; control the vehicle to make an on-the-spot U-turn and determine the U-turn result according to the vehicle wheel speed, set direction and set turning angle.

[0086] Optionally, the control module 202 is further used to: determine the initial speed of the motor according to a set speed and a preset speed comparison table; determine the vehicle wheel speed according to the initial speed of the motor and a preset speed ratio between the motor and the wheel end.

[0087] Optionally, the control module 202 is also used to: obtain the yaw angular velocity of the vehicle; compare the yaw angular velocity of the vehicle with the expected angular velocity to obtain a comparison result; adjust the initial speed of the motor according to the comparison result to determine the adjusted torque; determine the vehicle wheel speed according to the adjusted torque and the preset speed ratio.

[0088] Optionally, the U-turn results determined by the control module 202 include expected termination and unexpected termination, wherein the expected termination includes termination due to active intervention by the driver, and the unexpected termination includes termination due to fault, termination due to overheating of the electric drive system, termination due to excessive slope, termination due to collision risk, and termination due to misoperation.

[0089] Optionally, the control module is also used to: obtain the current deflection angle of the vehicle; in response to the difference between the current deflection angle and the set turning angle being less than a preset angle threshold, control the output torque of the vehicle to decrease until the current deflection angle is equal to the preset angle threshold, thereby determining that the on-the-spot U-turn is completed.

[0090] An embodiment of the present invention further provides a vehicle, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the vehicle control method described in any one of the above embodiments.

[0091] Optionally, in this embodiment, the processor in the vehicle may be configured to run a computer program to perform the following steps:

[0092] Step S101, obtaining a U-turn control instruction on the spot.

[0093] Step S102, in response to the on-the-spot U-turn control instruction, according to the on-the-spot U-turn control parameters, control the vehicle to make a on-the-spot U-turn and determine the U-turn result, wherein the on-the-spot U-turn control parameters include a set direction, a set speed and a set turning angle, the set direction is clockwise or counterclockwise, the set speed is the angular velocity of the vehicle deflecting around the U-turn center, and the set turning angle is the angle between the current position of the vehicle head and the target position.

[0094] Optionally, in response to an on-the-spot U-turn control instruction, according to the on-the-spot U-turn control parameters, the vehicle is controlled to make a on-the-spot U-turn and a U-turn result is determined, including: in response to the on-the-spot U-turn control instruction, the vehicle functions in a preset function list are turned off to obtain a turning-off result; in response to the turning-off result indicating that the vehicle functions in the preset function list are turned off successfully, according to the on-the-spot U-turn control parameters, the vehicle is controlled to make a on-the-spot U-turn and a U-turn result is determined.

[0095] Optionally, in response to a U-turn control instruction, according to the U-turn control parameters, the vehicle is controlled to make a U-turn on the spot and a U-turn result is determined, including: in response to the U-turn control instruction, the steering wheel angle of the vehicle is controlled to be zero and the gear position of the vehicle is controlled to be switched to a forward gear; in response to the steering wheel angle of the vehicle being zero and the gear position of the vehicle being a forward gear, according to the U-turn control parameters, the vehicle is controlled to make a U-turn on the spot and a U-turn result is determined.

[0096] Optionally, in response to an on-the-spot U-turn control instruction, according to the on-the-spot U-turn control parameters, the vehicle is controlled to make a on-the-spot U-turn and a U-turn result is determined, including: in response to the on-the-spot U-turn control instruction, the vehicle wheel speed is determined according to a set speed and a preset speed comparison table; according to the vehicle wheel speed, the set direction and the set turning angle, the vehicle is controlled to make a on-the-spot U-turn and a U-turn result is determined.

[0097] Optionally, in response to an on-the-spot U-turn control instruction, the vehicle wheel speed is determined according to a set speed and a preset speed comparison table, including: determining the initial motor speed according to the set speed and the preset speed comparison table; determining the vehicle wheel speed according to the initial motor speed and a preset speed ratio between the motor and the wheel end.

[0098] Optionally, the vehicle wheel speed is determined based on the initial motor speed and the preset speed ratio between the motor and the wheel end, including: obtaining the vehicle's yaw angular velocity; comparing the vehicle's yaw angular velocity with the expected angular velocity to obtain a comparison result; adjusting the initial motor speed based on the comparison result to determine the adjusted torque; determining the vehicle wheel speed based on the adjusted torque and the preset speed ratio.

[0099] Optionally, the U-turn results include expected termination and unexpected termination, wherein expected termination includes termination due to active intervention by the driver, and unexpected termination includes termination due to fault, electric drive system overheating, excessive slope, collision risk, and misoperation.

[0100] Optionally, determining the U-turn result includes: obtaining a current deflection angle of the vehicle; in response to a difference between the current deflection angle and a set turning angle being less than a preset angle threshold, controlling the output torque of the vehicle to decrease until the current deflection angle is equal to the preset angle threshold, thereby determining that the U-turn on the spot is completed.

[0101] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0102] An embodiment of the present invention further provides a non-volatile storage medium, in which a computer program is stored, wherein the computer program is configured to execute the vehicle control method described in any of the above embodiments when running on a computer or a processor.

[0103] Optionally, in this embodiment, the above-mentioned computer program may be configured to store a computer program for performing the following steps:

[0104] Step S101, obtaining a U-turn control instruction on the spot.

[0105] Step S102, in response to the on-the-spot U-turn control instruction, according to the on-the-spot U-turn control parameters, control the vehicle to make a on-the-spot U-turn and determine the U-turn result, wherein the on-the-spot U-turn control parameters include a set direction, a set speed and a set turning angle, the set direction is clockwise or counterclockwise, the set speed is the angular velocity of the vehicle deflecting around the U-turn center, and the set turning angle is the angle between the current position of the vehicle head and the target position.

[0106] Optionally, in response to an on-the-spot U-turn control instruction, according to the on-the-spot U-turn control parameters, the vehicle is controlled to make a on-the-spot U-turn and a U-turn result is determined, including: in response to the on-the-spot U-turn control instruction, the vehicle functions in a preset function list are turned off to obtain a turning-off result; in response to the turning-off result indicating that the vehicle functions in the preset function list are turned off successfully, according to the on-the-spot U-turn control parameters, the vehicle is controlled to make a on-the-spot U-turn and a U-turn result is determined.

[0107] Optionally, in response to a U-turn control instruction, according to the U-turn control parameters, the vehicle is controlled to make a U-turn on the spot and a U-turn result is determined, including: in response to the U-turn control instruction, the steering wheel angle of the vehicle is controlled to be zero and the gear position of the vehicle is controlled to be switched to a forward gear; in response to the steering wheel angle of the vehicle being zero and the gear position of the vehicle being a forward gear, according to the U-turn control parameters, the vehicle is controlled to make a U-turn on the spot and a U-turn result is determined.

[0108] Optionally, in response to an on-the-spot U-turn control instruction, according to the on-the-spot U-turn control parameters, the vehicle is controlled to make a on-the-spot U-turn and a U-turn result is determined, including: in response to the on-the-spot U-turn control instruction, the vehicle wheel speed is determined according to a set speed and a preset speed comparison table; according to the vehicle wheel speed, the set direction and the set turning angle, the vehicle is controlled to make a on-the-spot U-turn and a U-turn result is determined.

[0109] Optionally, in response to an on-the-spot U-turn control instruction, the vehicle wheel speed is determined according to a set speed and a preset speed comparison table, including: determining the initial motor speed according to the set speed and the preset speed comparison table; determining the vehicle wheel speed according to the initial motor speed and a preset speed ratio between the motor and the wheel end.

[0110] Optionally, the vehicle wheel speed is determined based on the initial motor speed and the preset speed ratio between the motor and the wheel end, including: obtaining the vehicle's yaw angular velocity; comparing the vehicle's yaw angular velocity with the expected angular velocity to obtain a comparison result; adjusting the initial motor speed based on the comparison result to determine the adjusted torque; determining the vehicle wheel speed based on the adjusted torque and the preset speed ratio.

[0111] Optionally, the U-turn results include expected termination and unexpected termination, wherein expected termination includes termination due to active intervention by the driver, and unexpected termination includes termination due to fault, electric drive system overheating, excessive slope, collision risk, and misoperation.

[0112] Optionally, determining the U-turn result includes: obtaining a current deflection angle of the vehicle; in response to a difference between the current deflection angle and a set turning angle being less than a preset angle threshold, controlling the output torque of the vehicle to decrease until the current deflection angle is equal to the preset angle threshold, thereby determining that the U-turn on the spot is completed.

[0113] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0114] An embodiment of the present invention further provides a computer program product, including a computer program, which implements the vehicle energy consumption management method described in any of the above embodiments when executed by a processor.

[0115] Optionally, in this embodiment, the above computer program implements the following steps when executed by a processor:

[0116] Step S101, obtaining a U-turn control instruction on the spot.

[0117] Step S102, in response to the on-the-spot U-turn control instruction, according to the on-the-spot U-turn control parameters, control the vehicle to make a on-the-spot U-turn and determine the U-turn result, wherein the on-the-spot U-turn control parameters include a set direction, a set speed and a set turning angle, the set direction is clockwise or counterclockwise, the set speed is the angular velocity of the vehicle deflecting around the U-turn center, and the set turning angle is the angle between the current position of the vehicle head and the target position.

[0118] Optionally, in response to an on-the-spot U-turn control instruction, according to the on-the-spot U-turn control parameters, the vehicle is controlled to make a on-the-spot U-turn and a U-turn result is determined, including: in response to the on-the-spot U-turn control instruction, the vehicle functions in a preset function list are turned off to obtain a turning-off result; in response to the turning-off result indicating that the vehicle functions in the preset function list are turned off successfully, according to the on-the-spot U-turn control parameters, the vehicle is controlled to make a on-the-spot U-turn and a U-turn result is determined.

[0119] Optionally, in response to a U-turn control instruction, according to the U-turn control parameters, the vehicle is controlled to make a U-turn on the spot and a U-turn result is determined, including: in response to the U-turn control instruction, the steering wheel angle of the vehicle is controlled to be zero and the gear position of the vehicle is controlled to be switched to a forward gear; in response to the steering wheel angle of the vehicle being zero and the gear position of the vehicle being a forward gear, according to the U-turn control parameters, the vehicle is controlled to make a U-turn on the spot and a U-turn result is determined.

[0120] Optionally, in response to an on-the-spot U-turn control instruction, according to the on-the-spot U-turn control parameters, the vehicle is controlled to make a on-the-spot U-turn and a U-turn result is determined, including: in response to the on-the-spot U-turn control instruction, the vehicle wheel speed is determined according to a set speed and a preset speed comparison table; according to the vehicle wheel speed, the set direction and the set turning angle, the vehicle is controlled to make a on-the-spot U-turn and a U-turn result is determined.

[0121] Optionally, in response to an on-the-spot U-turn control instruction, the vehicle wheel speed is determined according to a set speed and a preset speed comparison table, including: determining the initial motor speed according to the set speed and the preset speed comparison table; determining the vehicle wheel speed according to the initial motor speed and a preset speed ratio between the motor and the wheel end.

[0122] Optionally, the vehicle wheel speed is determined based on the initial motor speed and the preset speed ratio between the motor and the wheel end, including: obtaining the vehicle's yaw angular velocity; comparing the vehicle's yaw angular velocity with the expected angular velocity to obtain a comparison result; adjusting the initial motor speed based on the comparison result to determine the adjusted torque; determining the vehicle wheel speed based on the adjusted torque and the preset speed ratio.

[0123] Optionally, the U-turn results include expected termination and unexpected termination, wherein expected termination includes termination due to active intervention by the driver, and unexpected termination includes termination due to fault, electric drive system overheating, excessive slope, collision risk, and misoperation.

[0124] Optionally, determining the U-turn result includes: obtaining a current deflection angle of the vehicle; in response to a difference between the current deflection angle and a set turning angle being less than a preset angle threshold, controlling the output torque of the vehicle to decrease until the current deflection angle is equal to the preset angle threshold, thereby determining that the U-turn on the spot is completed.

[0125] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0126] In some embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the modules can be a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, 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, modules or indirect coupling or communication connection of modules, which can be electrical or other forms.

[0127] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0128] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of software functional modules.

[0129] If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0130] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A vehicle control method, characterized in that: include: Obtain the on-site U-turn control instruction; In response to the on-the-spot U-turn control instruction, the vehicle is controlled to make a on-the-spot U-turn and a U-turn result is determined according to the on-the-spot U-turn control parameters, wherein the on-the-spot U-turn control parameters include a set direction, a set speed and a set turning angle, the set direction is clockwise or counterclockwise, the set speed is the angular velocity of the vehicle deflecting around the U-turn center, and the set turning angle is the angle between the current position of the vehicle head and the target position.

2. The vehicle control method according to claim 1, characterized in that: The step of controlling the vehicle to perform a U-turn on the spot and determining a U-turn result in response to the U-turn control instruction according to a U-turn control parameter on the spot includes: In response to the on-the-spot U-turn control instruction, the vehicle functions in the preset function list are turned off to obtain a turning-off result; In response to the shutdown result indicating that the vehicle functions in the preset function list are successfully shut down, the vehicle is controlled to make a pivotal U-turn according to the pivotal U-turn control parameter and the U-turn result is determined.

3. The vehicle control method according to claim 1, characterized in that: The step of responding to the on-the-spot U-turn control instruction and controlling the vehicle to perform an on-the-spot U-turn and determining a U-turn result according to an on-the-spot U-turn control parameter comprises: In response to the on-the-spot U-turn control instruction, controlling the steering wheel angle of the vehicle to be zero and controlling the gear position of the vehicle to be switched to a forward gear; In response to a steering wheel angle of the vehicle being zero and a gear position of the vehicle being a forward gear, the vehicle is controlled to perform a pivot turn and a pivot turn result is determined according to pivot turn control parameters.

4. The vehicle control method according to claim 1, characterized in that: The step of responding to the on-the-spot U-turn control instruction and controlling the vehicle to perform an on-the-spot U-turn and determining a U-turn result according to an on-the-spot U-turn control parameter comprises: In response to the on-the-spot U-turn control instruction, determining the vehicle wheel speed according to the set speed and a preset speed comparison table; The vehicle is controlled to make a U-turn on the spot and a U-turn result is determined according to the vehicle wheel speed, the set direction and the set turning angle.

5. The vehicle control method according to claim 4, characterized in that: The step of determining the vehicle wheel speed in response to the stationary U-turn control instruction according to the set speed and a preset speed comparison table includes: Determine the initial speed of the motor according to the set speed and the preset speed comparison table; The vehicle wheel speed is determined according to the initial rotation speed of the motor and a preset speed ratio between the motor and the wheel end.

6. The vehicle control method according to claim 5, characterized in that: The determining the vehicle wheel speed according to the initial rotation speed of the motor and the preset speed ratio between the motor and the wheel end comprises: Acquiring the yaw angular velocity of the vehicle; Comparing the yaw angular velocity of the vehicle with the expected angular velocity to obtain a comparison result; According to the comparison result, the initial speed of the motor is adjusted to determine the adjusted torque; The vehicle wheel speed is determined based on the adjusted torque and the preset speed ratio.

7. The vehicle control method according to claim 1, characterized in that: The U-turn results include expected termination and unexpected termination, wherein the expected termination includes termination due to active intervention by the driver, and the unexpected termination includes termination due to failure, overheating of the electric drive system, excessive slope, collision risk, and misoperation.

8. The vehicle control method according to claim 1, characterized in that: Determining the U-turn result includes: Get the current deflection angle of the vehicle; In response to the difference between the current deflection angle and the set turning angle being less than a preset angle threshold, the output torque of the vehicle is controlled to decrease until the current deflection angle is equal to the preset angle threshold, and it is determined that the on-the-spot U-turn is completed.

9. A vehicle control system, characterized in that: include: An acquisition module, used to acquire an on-the-spot U-turn control instruction; A control module is used to respond to the on-the-spot U-turn control instruction and control the vehicle to make a on-the-spot U-turn and determine the U-turn result according to the on-the-spot U-turn control parameters, wherein the on-the-spot U-turn control parameters include a set direction, a set speed and a set turning angle, the set direction is clockwise or counterclockwise, the set speed is the angular velocity of the vehicle deflecting around the U-turn center, and the set turning angle is the angle between the current position of the vehicle head and the target position.

10. A vehicle comprising a memory and a processor, characterized in that: The memory stores a computer program, and the processor is configured to run the computer program to execute the vehicle control method described in any one of claims 1 to 7.

11. A non-volatile storage medium, characterized in that: The non-volatile storage medium stores a computer program, wherein the computer program is configured to execute the vehicle control method described in any one of claims 1 to 8 when running on a computer or a processor.

12. A computer program product, characterized in that The invention comprises a computer program which, when executed by a processor, implements the vehicle control method according to any one of claims 1 to 8.

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