Vehicle turning radius calculation method, vehicle and storage medium

Abstract

The invention provides a vehicle turning radius calculation method, a vehicle and a storage medium, the method is applied to the technical field of vehicles, and the method comprises the following steps: when it is judged that the vehicle meets a preset turning radius calculation condition, obtaining a current position of the vehicle, a turning demand of a user and a road curvature corresponding to the turning demand, and determining the turning radius of each wheel of the vehicle according to the current position of the vehicle, the turning demand of the user and the road curvature corresponding to the turning demand. According to the method, when the vehicle meets the turning radius calculation condition, the turning radius needed by the current vehicle can be calculated by comprehensively obtaining the relevant turning requirements of the user and the vehicle, the obtained turning radius is corrected, then calculation errors are reduced, the calculation precision of the turning radius of the vehicle is improved, and the turning requirement of the user is effectively met.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a method for calculating a turning radius of a vehicle in the field of vehicles, a vehicle, and a storage medium. Background Art

[0002] With the continuous growth of the number of vehicles in my country, users have higher and higher requirements for vehicle assisted driving functions, which have gradually become a standard configuration of vehicles. Among them, the turning radius of the vehicle is an important indicator of the assisted driving function and plays a vital role in the functional development of the vehicle. Therefore, the accuracy of the vehicle turning radius calculation is particularly important.

[0003] In the related art, the method for calculating the vehicle turning radius mainly uses a steering wheel angle sensor to collect steering wheel angle signals, calculates the vehicle turning radius based on the angle signals, or collects the vehicle's turning trajectory based on a satellite positioning navigation system, and then calculates the vehicle turning radius based on the trajectory.

[0004] However, the above methods all require additional equipment to collect the vehicle's steering angle or trajectory, which has a relatively complex structure and is likely to increase the calculation cost, reduce the calculation efficiency and calculation accuracy when calculating the vehicle's turning radius, which urgently needs to be solved. Summary of the invention

[0005] The present application provides a method for calculating the turning radius of a vehicle, a vehicle and a storage medium. When the vehicle meets the turning radius calculation conditions, the method can calculate the turning radius required by the current vehicle by comprehensively acquiring the relevant turning needs of the user and the vehicle, and correct the obtained turning radius, thereby reducing the calculation error, improving the calculation accuracy of the vehicle turning radius, and effectively meeting the turning needs of the user.

[0006] In a first aspect, a method for calculating a turning radius of a vehicle is provided, the method comprising: determining whether the vehicle satisfies a preset turning radius calculation condition; if the vehicle satisfies the preset turning radius calculation condition, obtaining a current position of the vehicle, a user's turning demand, and a road curvature corresponding to the turning demand; and determining a turning radius of each wheel of the vehicle according to the current position, the turning demand, and the road curvature corresponding to the turning demand.

[0007] Through the above technical solution, when the vehicle meets the turning radius calculation conditions, the turning radius required by the current vehicle can be calculated by comprehensively acquiring the relevant turning needs of the user and the vehicle, thereby reducing the calculation error, improving the calculation accuracy of the vehicle's turning radius, and effectively meeting the user's turning needs.

[0008] In combination with the first aspect, in certain possible implementations, if the vehicle meets the preset turning radius calculation conditions, the current position of the vehicle, the user's turning demand and the road curvature corresponding to the turning demand are obtained, including: based on the current position and the turning demand, obtaining the road length on both sides of the vehicle within a preset time length and the actual turning angle of the vehicle; determining the steering angle of each wheel according to the actual turning angle, and obtaining the road curvature corresponding to the steering angle of each wheel according to the steering angle of each wheel and the road length on both sides.

[0009] Through the above technical solution, the turning radius of each wheel of the vehicle can be calculated by collecting the vehicle's position, the user's turning demand and the road curvature corresponding to the turning demand, thereby meeting the user's turning demand.

[0010] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after determining the turning radius of each wheel of the vehicle according to the current position, the turning demand and the road curvature corresponding to the turning demand, it also includes: obtaining the input angle of the steering wheel; determining the steering angle and braking torque of the corresponding wheel according to the input angle of the steering wheel and the turning radius of each wheel; based on the braking torque of each wheel, using the electronic mechanical braking system to apply the corresponding braking torque to each wheel, so that the vehicle performs a turning action.

[0011] Through the above technical solution, after determining the turning radius of each wheel of the vehicle, the steering angle and braking torque of each wheel can be obtained in combination with the acquired input angle of the steering wheel, so that the vehicle can realize turning action, thereby effectively obtaining the turning radius of the vehicle.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining the steering angle and braking torque of the corresponding wheel based on the input angle of the steering wheel and the turning radius of each wheel includes: determining the steering angle of each wheel from a preset first mapping relationship based on the input angle of the steering wheel and the turning radius of each wheel; determining the braking torque of each wheel from a preset second mapping relationship based on the steering angle of each wheel.

[0013] Through the above technical solution, the steering angle and braking torque of each wheel can be obtained according to the turning radius of each wheel and the input angle of the steering wheel, so that the vehicle can be controlled to execute the turning radius required by the user according to the steering angle and steering torque to meet the user's needs.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, based on the braking torque of each wheel, the electronic mechanical braking system is used to apply a corresponding braking torque to each wheel so that the vehicle performs a turning action, including: judging whether the braking torque of each wheel meets the preset turning condition of the vehicle; when the braking torque of each wheel meets the preset turning condition of the vehicle, the electronic mechanical braking system is used to apply a corresponding braking torque to each wheel to control the vehicle to perform a turning action.

[0015] Through the above technical solution, when the braking torque of each wheel meets the preset turning conditions, the electronic mechanical braking system is used to apply the corresponding braking torque to each wheel, so that the vehicle can be controlled to perform turning actions and the turning accuracy is improved.

[0016] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining whether the braking torque of each wheel meets the preset turning condition of the vehicle includes: determining whether the braking torque of the front outer wheel of the vehicle is greater than the braking torque of the front inner wheel of the vehicle, and whether the braking torque of the rear outer wheel of the vehicle is greater than the braking torque of the rear inner wheel of the vehicle; when the braking torque of the front outer wheel of the vehicle is greater than the braking torque of the front inner wheel of the vehicle, and the braking torque of the rear outer wheel of the vehicle is greater than the braking torque of the rear inner wheel of the vehicle, it is determined that the braking torque of each wheel meets the preset turning condition of the vehicle, and the vehicle is controlled to perform a turning action.

[0017] Through the above technical solution, the preset turning conditions of the vehicle are obtained by judging the braking torque of the front and rear outer wheels and the braking torque of the front and rear inner wheels, so as to control the turning of the vehicle to meet the turning needs of the user.

[0018] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after using the electronic mechanical braking system to apply a corresponding braking torque to each wheel so that the vehicle performs a turning action, it also includes: obtaining the real-time position of the vehicle during the turning process; determining a new turning radius of each wheel of the vehicle according to the real-time position of the turning process, the turning demand and the road curvature corresponding to the turning demand, so as to perform a turning action based on the new turning radius of each wheel.

[0019] Through the above technical solution, the real-time position of the vehicle during the turning process can be obtained, and the turning radius can be corrected according to the user's turning requirements and the corresponding road curvature, thereby improving the calculation accuracy of the vehicle's turning radius.

[0020] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining whether the vehicle meets the preset turning radius calculation conditions includes: obtaining the steering angle and turn signal status of the steering wheel; when the steering angle is greater than a preset threshold and the turn signal status is on, determining that the vehicle meets the preset turning radius calculation conditions.

[0021] Through the above technical solution, by obtaining the steering angle of the steering wheel and the turn signal status, the turning radius of the vehicle is calculated when the steering angle is greater than a preset threshold and the turn signal status is on, thereby improving the steering accuracy and meeting the user's steering needs.

[0022] In a second aspect, a device for calculating a turning radius of a vehicle is provided, the device comprising: a judgment module, used to judge whether the vehicle satisfies a preset turning radius calculation condition; an acquisition module, used to obtain a current position of the vehicle, a user's turning demand and a road curvature corresponding to the turning demand if the vehicle satisfies the preset turning radius calculation condition; and a determination module, used to determine the turning radius of each wheel of the vehicle according to the current position, the turning demand and the road curvature corresponding to the turning demand.

[0023] In combination with the second aspect, in some possible implementations, the acquisition module includes: a first acquisition unit, used to acquire the length of the roads on both sides of the vehicle and the actual turning angle of the vehicle within a preset time length based on the current position and the turning requirement; a second acquisition unit, used to determine the steering angle of each wheel according to the actual turning angle, and obtain the road curvature corresponding to the steering angle of each wheel according to the steering angle of each wheel and the length of the roads on both sides; a third acquisition unit, used to obtain the turning radius of each wheel according to the inverse of the road curvature corresponding to the steering angle of each wheel.

[0024] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, after determining the turning radius of each wheel of the vehicle according to the current position, the turning demand and the road curvature corresponding to the turning demand, the determination module also includes: a fourth acquisition unit, used to acquire the input angle of the steering wheel; a determination unit, used to determine the steering angle and braking torque of the corresponding wheel according to the input angle of the steering wheel and the turning radius of each wheel; an execution unit, used to apply the corresponding braking torque to each wheel based on the braking torque of each wheel using the electronic mechanical braking system, so that the vehicle performs a turning action.

[0025] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination unit includes: a first determination subunit, used to determine the steering angle of each wheel from a preset first mapping relationship based on the input angle of the steering wheel and the turning radius of each wheel; a second determination subunit, used to determine the braking torque of each wheel from a preset second mapping relationship based on the steering angle of each wheel.

[0026] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the execution unit includes: a judgment subunit, used to judge whether the braking torque of each wheel meets the preset turning condition of the vehicle; a control subunit, used to apply the corresponding braking torque to each wheel using the electronic mechanical braking system when the braking torque of each wheel meets the preset turning condition of the vehicle, so as to control the vehicle to perform a turning action.

[0027] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the judgment subunit includes: a judgment subcomponent, used to judge whether the braking torque of the front outer wheel of the vehicle is greater than the braking torque of the front inner wheel of the vehicle, and whether the braking torque of the rear outer wheel of the vehicle is greater than the braking torque of the rear inner wheel of the vehicle; a judgment subcomponent, used to judge that the braking torque of each wheel meets the preset turning condition of the vehicle when the braking torque of the front outer wheel of the vehicle is greater than the braking torque of the front inner wheel of the vehicle, and the braking torque of the rear outer wheel of the vehicle is greater than the braking torque of the rear inner wheel of the vehicle, and control the vehicle to perform a turning action.

[0028] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, after the electronic mechanical braking system is used to apply a corresponding braking torque to each wheel so that the vehicle performs a turning action, the execution unit also includes: an acquisition subunit, used to acquire the real-time position of the vehicle during the turning process; an execution subunit, used to determine the new turning radius of each wheel of the vehicle according to the real-time position of the turning process, the turning demand and the road curvature corresponding to the turning demand, so as to perform a turning action based on the new turning radius of each wheel.

[0029] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the judgment module includes: a fifth acquisition unit, used to obtain the steering angle and turn signal status of the steering wheel; a judgment unit, used to determine that the vehicle meets the preset turning radius calculation conditions when the steering angle is greater than a preset threshold and the turn signal status is on.

[0030] In a third aspect, a vehicle is provided, comprising: a method for calculating a vehicle turning radius as described in the above embodiment.

[0031] In a fourth 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 method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A flow chart of a method for calculating a vehicle turning radius provided in an embodiment of the present application;

[0033] Figure 2 A schematic diagram of a specific structure for calculating a vehicle turning radius provided in one embodiment of the present application;

[0034] Figure 3 A block diagram of a device for calculating a vehicle turning radius provided in an embodiment of the present application;

[0035] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] 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.

[0037] 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.

[0038] The traditional method for calculating the turning radius of a vehicle lacks a correction process for the turning radius when obtaining the turning radius of the vehicle through a steering wheel angle sensor or a satellite positioning navigation system, which makes the obtained turning radius less accurate and easily causes a deviation in the turning radius required by the user, which is not conducive to the user's driving experience. The method for calculating the turning radius of a vehicle in the embodiment of the present application is based on an electronic mechanical braking system to independently control multiple wheels. After calculating the turning radius of the vehicle, the real-time position of the vehicle during the turning process can be obtained, and the turning radius can be corrected according to the user's turning needs and the corresponding road curvature, thereby reducing the calculation error, improving the calculation accuracy of the vehicle turning radius, and effectively meeting the user's turning needs. It should be noted that the chassis structure of the vehicle in the embodiment of the present application mainly includes four EMB (Electromechanical Brake System, electronic mechanical brake system) actuators, which can independently control the four wheels; EMB is an actuator driven by a caliper motor and installed on the caliper of the brake mechanism. It is a device that directly brakes the vehicle with the brake mechanism without the need for a medium such as brake fluid; EMB replaces the traditional hydraulic brake and is used for main braking, and its scope of use has been expanded. The following will be combined with Figure 1 The calculation method of vehicle turning radius is explained in detail.

[0039] Figure 1 It is a schematic flow chart of a method for calculating a vehicle turning radius provided in an embodiment of the present application.

[0040] Before introducing the method for calculating the vehicle turning radius of the embodiment of the present application, the vehicle structure involved in the method for calculating the vehicle turning radius of the embodiment of the present application is briefly introduced.

[0041] like Figure 2 As shown, the vehicle system structure includes: a domain controller, 4 wheels, 2 parking control chips, 2 external power supplies, 4 wheel speed sensors and 2 pedal travel sensors. Among them, the domain controller is connected to 2 external power supplies, namely power supply 1 and power supply 2, and the 4 wheels are respectively the left front wheel controller MCU_FL, the right front wheel controller MCU_FR, the left rear wheel controller MCU_RL, and the right rear wheel controller MCU_RR. The 2 parking control chips are installed on the left rear wheel controller MCU_RL and the right rear wheel controller MCU_RR respectively, and the 4 wheel speed sensors are installed on the 4 wheels respectively to collect the rotation speed of each wheel of the vehicle.

[0042] Specifically, the domain controller integrates two main control chips and two power chips, which respectively provide power to the domain controller and control the turning action of the vehicle; two pedal travel sensors collect the braking force corresponding to the actual travel when the vehicle brake pedal is triggered; MCU_FL is connected to MCU_FR, MCU_RL is connected to MCU_RR, power supply 1 is connected to MCU_FL, MCU_RL and the domain controller respectively, and provides power to MCU_FL, MCU_RL and the domain controller; power supply 2 is connected to MCU_FR, MCU_RR and the domain controller respectively, and provides power to MCU_FR, MCU_RR and the domain controller, among which power supply 1 and power supply 2 can provide power to the entire vehicle system redundantly to ensure the normal execution of the vehicle steering mode. Since the vehicle of the embodiment of the present application adopts an independent control strategy for each wheel based on the electronic mechanical braking system, the domain controller of the embodiment of the present application can control the four wheels to perform turning operations separately, that is, MCU_FL can control the left front wheel turning operation, MCU_FR can control the right front wheel turning operation, MCU_RL can control the left rear wheel turning operation, and MCU_RR can control the right rear wheel turning operation, so as to enable each wheel of the vehicle to turn according to the applied braking torque, thereby meeting the user's turning needs.

[0043] For example, Figure 1 As shown, the method includes:

[0044] In step S101, it is determined whether the vehicle meets the preset turning radius calculation conditions.

[0045] Optionally, in one embodiment of the present application, determining whether the vehicle meets the preset turning radius calculation conditions includes: obtaining the steering angle and turn signal status of the steering wheel; when the steering angle is greater than a preset threshold and the turn signal status is on, determining that the vehicle meets the preset turning radius calculation conditions.

[0046] Among them, the preset turning radius calculation condition can be set by technical personnel in this field according to the actual turning radius application requirements, and the preset threshold value can be a threshold value set by technical personnel in this field in the application data obtained by calculating the turning radius, or it can be a threshold value obtained by multiple computer simulations, which is not specifically limited here.

[0047] Specifically, in an embodiment of the present application, in order to enable the user to meet the demand for vehicle steering during driving, it is first necessary to determine whether the current vehicle meets the preset turning radius calculation conditions, so as to subsequently calculate the turning radius of the vehicle when the preset turning radius calculation conditions are met, so as to control the vehicle to perform the turning action, thereby realizing the user's steering needs.

[0048] Specifically, users can navigate through the on-board high-precision map during driving. If the user drives to a turning section, it means that the user has a need to turn. At this time, the steering angle of the steering wheel can be obtained through the steering angle sensor and the on-board high-precision map, and the vehicle's turn signal status can be obtained through the user's control of the turn signal switch. When the steering angle of the steering wheel is greater than the preset threshold and the turn signal status is on, it is determined that the vehicle meets the preset turning radius calculation conditions. At this time, the turning radius can be calculated, and the vehicle can be subsequently controlled to perform the turning action.

[0049] In step S102, if the vehicle meets the preset turning radius calculation conditions, the current position of the vehicle, the user's turning demand, and the road curvature corresponding to the turning demand are obtained.

[0050] Optionally, in one embodiment of the present application, if the vehicle meets the preset turning radius calculation conditions, the current position of the vehicle, the user's turning demand and the road curvature corresponding to the turning demand are obtained, including: based on the current position and turning demand, obtaining the length of the roads on both sides of the vehicle within a preset time length and the actual turning angle of the vehicle; determining the steering angle of each wheel according to the actual turning angle, and obtaining the road curvature corresponding to the steering angle of each wheel according to the steering angle of each wheel and the length of the roads on both sides.

[0051] The preset time length may be a corresponding time length set by technicians in this field according to actual road condition information, or may be a corresponding time length obtained through multiple computer simulations, and is not specifically limited here.

[0052] Specifically, in the embodiment of the present application, if the vehicle meets the preset turning radius calculation conditions, the current position information of the vehicle can be obtained through the vehicle positioning system, positioning software or panoramic surround view camera, and the user's turning needs can be judged through the vehicle turn signal, and then the steering angle of each wheel of the vehicle and the length of the road on both sides of the vehicle within a preset time are obtained according to the current position information and the user's turning needs, and then the road curvature corresponding to the steering angle of each wheel is obtained, wherein the calculation formula of the road curvature can be shown as follows:

[0053] K = 2α / (a1+a2);

[0054] Where a1 and a2 are the lengths of the roads on both sides of the vehicle within the time Δt; α is the actual turning angle of the vehicle; and K is the curvature of the road.

[0055] Specifically, if the vehicle meets the preset turning radius calculation conditions, when the user drives to the intersection and needs to control the vehicle to turn, the real-time position of the current vehicle can be located through the on-board positioning system. After the vehicle's position information is collected, the user's turning needs are judged according to the direction in which the user turns on the vehicle's turn signal. When the user turns on the right turn signal, it is judged that the user's current turning need is to turn right. When the user turns on the left turn signal, it is judged that the user's current turning need is to turn left. At this time, the panoramic surround view camera is used to obtain the road lengths on both sides of the vehicle within a preset time length, for example, the road lengths a1 and a2 on both sides within the time Δt and the actual turning angle α of the vehicle are obtained, and the steering angle of each wheel is further determined according to the actual turning angle. Therefore, the road curvature corresponding to the steering angle of each wheel can be obtained through the calculation formula of the road curvature.

[0056] For example, if the user's current turning requirement is to turn right, the panoramic surround view camera is used to obtain the road lengths on both sides of the right-turn section of the vehicle within a preset time length, and the steering angle of each wheel when turning right is determined based on the actual turning angle. Therefore, the road curvature corresponding to the steering angle of each wheel when turning right can be obtained through the calculation formula of road curvature; if the user's current turning requirement is to turn left, the panoramic surround view camera is used to obtain the road lengths on both sides of the left-turn section of the vehicle within a preset time length, and the steering angle of each wheel when turning left can be determined based on the actual turning angle. Therefore, the road curvature corresponding to the steering angle of each wheel when turning left can be obtained through the calculation formula of road curvature.

[0057] In step S103, the turning radius of each wheel of the vehicle is determined according to the current position, the turning requirement and the road curvature corresponding to the turning requirement.

[0058] Specifically, in an embodiment of the present application, the turning radius of each wheel of the vehicle is determined by the current position of the vehicle obtained as above, the user's turning demand, and the road curvature corresponding to the turning demand, wherein the turning radius of the wheel refers to the minimum turning radius required for the vehicle when turning, and is related to factors such as the vehicle's wheelbase and wheel angle.

[0059] Specifically, the embodiment of the present application obtains the turning radius of each wheel based on the user's turning demand obtained as mentioned above and the road curvature corresponding to the turning demand, that is, the inverse of the road curvature corresponding to the actual turning angle of the vehicle and the steering angle of each wheel (1 / K).

[0060] Optionally, in one embodiment of the present application, after determining the turning radius of each wheel of the vehicle according to the current position, turning demand and the road curvature corresponding to the turning demand, it also includes: obtaining the input angle of the steering wheel; determining the steering angle and braking torque of the corresponding wheel according to the input angle of the steering wheel and the turning radius of each wheel; based on the braking torque of each wheel, using an electronic mechanical braking system to apply a corresponding braking torque to each wheel, so that the vehicle performs a turning action.

[0061] Optionally, in one embodiment of the present application, the steering angle and braking torque of the corresponding wheel are determined according to the input angle of the steering wheel and the turning radius of each wheel, including: determining the steering angle of each wheel from a preset first mapping relationship based on the input angle of the steering wheel and the turning radius of each wheel; determining the braking torque of each wheel from a preset second mapping relationship based on the steering angle of each wheel.

[0062] Among them, the preset first mapping relationship and the preset second mapping relationship can be set by those skilled in the art according to actual usage requirements, and can also be set through computer simulation, and are not specifically limited here.

[0063] Specifically, the preset first mapping relationship and the preset second mapping relationship of the embodiment of the present application can both be obtained based on calibration, that is, the steering angle of each wheel can be determined by the obtained steering wheel input angle and the turning radius of each wheel, and the braking torque of each wheel can be determined by the obtained steering angle of each wheel.

[0064] Specifically, after determining the turning radius of each wheel of the vehicle, the embodiment of the present application collects the angle signal of the steering wheel, that is, the input angle of the steering wheel, by means of an angle sensor arranged on the steering wheel and cooperating with the electronic power steering system of the vehicle. Then, communication can be established between the angle sensor of the steering wheel and the steering wheel control system through a CAN (Controller Area Network) network to transmit the input angle of the steering wheel collected by the angle sensor to the steering wheel control system. Then, the steering angle of each wheel is determined based on a preset first mapping relationship corresponding to the input angle of the steering wheel and the turning radius of each wheel. Since the steering angle of each wheel corresponds to a unique braking torque of each wheel, the braking torque of each wheel can be determined from a preset second mapping relationship based on the steering angle of each wheel of the vehicle. Then, based on the braking torque of each wheel, the corresponding braking torque is applied to each wheel by using the electronic mechanical braking system, so that the vehicle performs a turning action.

[0065] It should be noted that the steering wheel angle sensor of the embodiment of the present application can be a sensor with a torque acquisition function such as a TAS (Torque and Angle Sensor) or a TIS (Torque Index Sensor), and is not specifically limited here.

[0066] Optionally, in one embodiment of the present application, based on the braking torque of each wheel, an electronic mechanical braking system is used to apply a corresponding braking torque to each wheel so that the vehicle performs a turning action, including: determining whether the braking torque of each wheel meets the preset turning conditions of the vehicle; when the braking torque of each wheel meets the preset turning conditions of the vehicle, the electronic mechanical braking system is used to apply a corresponding braking torque to each wheel to control the vehicle to perform a turning action.

[0067] Optionally, in one embodiment of the present application, determining whether the braking torque of each wheel meets the preset turning condition of the vehicle includes: determining whether the braking torque of the front outer wheel of the vehicle is greater than the braking torque of the front inner wheel of the vehicle, and whether the braking torque of the rear outer wheel of the vehicle is greater than the braking torque of the rear inner wheel of the vehicle; when the braking torque of the front outer wheel of the vehicle is greater than the braking torque of the front inner wheel of the vehicle, and the braking torque of the rear outer wheel of the vehicle is greater than the braking torque of the rear inner wheel of the vehicle, determining that the braking torque of each wheel meets the preset turning condition of the vehicle, and controlling the vehicle to perform a turning action.

[0068] Among them, the preset turning conditions can be set by technical personnel in this field according to actual usage requirements, and can also be set through computer simulation, and are not specifically limited here.

[0069] Specifically, after the embodiment of the present application obtains the braking torque of each wheel, it is necessary to further determine whether the braking torque of each wheel meets the preset turning conditions of the vehicle. When the braking torque of each wheel meets the preset turning conditions of the vehicle, the electronic mechanical braking system is used to apply the corresponding braking torque to each wheel.

[0070] Specifically, in the process of judging whether the braking torque of each wheel meets the preset turning condition of the vehicle, first, the braking torque of the front outer wheel, the braking torque of the rear outer wheel, the braking torque of the front inner wheel and the braking torque of the rear inner wheel of the vehicle are respectively obtained by the vehicle brake; secondly, it is judged whether the braking torque of the front outer wheel of the vehicle is greater than the braking torque of the front inner wheel of the vehicle, and whether the braking torque of the rear outer wheel of the vehicle is greater than the braking torque of the rear inner wheel of the vehicle. If the braking torque of the front outer wheel of the vehicle is greater than the braking torque of the front inner wheel of the vehicle, and the braking torque of the rear outer wheel of the vehicle is greater than the braking torque of the rear inner wheel of the vehicle, it is judged that the braking torque of each wheel meets the preset turning condition of the vehicle. At this time, the electronic mechanical braking system is used to apply the corresponding braking torque to each wheel, so that the vehicle performs a turning action.

[0071] It should be noted that the outer wheel and the inner wheel of the embodiment of the present application are when the vehicle turns, the turning side is the inner side and the other side is the outer side. For example, when the vehicle turns left, the left side of the vehicle is the inner side and the right side of the vehicle is the outer side; when the vehicle turns right, the right side of the vehicle is the inner side and the left side of the vehicle is the outer side. Therefore, the four wheels of the vehicle in the embodiment of the present application include a front inner wheel, a front outer wheel, a rear inner wheel and a rear outer wheel.

[0072] Optionally, in one embodiment of the present application, after using the electronic mechanical braking system to apply a corresponding braking torque to each wheel so that the vehicle performs a turning action, it also includes: obtaining the real-time position of the vehicle during the turning process; determining a new turning radius of each wheel of the vehicle according to the real-time position of the turning process, the turning demand, and the road curvature corresponding to the turning demand, so as to perform a turning action based on the new turning radius of each wheel.

[0073] Specifically, after the vehicle performs a turning action, the embodiment of the present application can continuously obtain the real-time position of the vehicle during the turning process through the on-board positioning system, and determine the new turning radius of each wheel of the vehicle based on the acquired real-time position of the vehicle in combination with the user's turning demand and the road curvature corresponding to the turning demand, so as to complete the correction of the previous turning radius of each wheel of the vehicle, thereby controlling the vehicle to perform a turning action based on the new turning radius of each wheel, so as to improve the turning accuracy of the vehicle, thereby enabling the user to achieve the turning of the vehicle with optimal turning accuracy.

[0074] In summary, the method for calculating the turning radius of a vehicle in the embodiment of the present application, when judging that the vehicle meets the preset turning radius calculation conditions, obtains the current position of the vehicle, the turning demand of the user, and the road curvature corresponding to the turning demand, thereby determining the turning radius of each wheel of the vehicle according to the current position of the vehicle, the turning demand of the user, and the road curvature corresponding to the turning demand. Thus, the problem that when calculating the turning radius of the vehicle, the accuracy of the obtained turning radius is reduced due to the lack of a correction process for the turning radius, which easily causes a deviation in the turning radius required by the user, and is not conducive to the user's driving experience is solved. By comprehensively obtaining the relevant turning demands of the user and the vehicle, the turning radius required by the current vehicle is calculated, and the obtained turning radius is corrected, thereby reducing the calculation error, improving the calculation accuracy of the vehicle turning radius, and effectively meeting the user's steering needs.

[0075] Figure 3 It is a block diagram of a device for calculating a vehicle turning radius provided in an embodiment of the present application.

[0076] For example, Figure 3 As shown, the device 10 may include: a judgment module 100 , an acquisition module 200 and a determination module 300 .

[0077] The judging module 100 is used to judge whether the vehicle meets the preset turning radius calculation conditions;

[0078] The acquisition module 200 is used to acquire the current position of the vehicle, the turning demand of the user and the road curvature corresponding to the turning demand if the vehicle meets the preset turning radius calculation conditions;

[0079] The determination module 300 is used to determine the turning radius of each wheel of the vehicle according to the current position, the turning requirement and the road curvature corresponding to the turning requirement.

[0080] Optionally, in one embodiment of the present application, the acquisition module 200 includes:

[0081] A first acquisition unit is used to acquire the length of the road on both sides of the vehicle and the actual turning angle of the vehicle within a preset time period based on the current position and the turning requirement;

[0082] A second acquisition unit is used to determine the steering angle of each wheel according to the actual turning angle, and obtain the road curvature corresponding to the steering angle of each wheel according to the steering angle of each wheel and the length of the road on both sides;

[0083] The third acquisition unit is used to obtain the turning radius of each wheel according to the inverse of the road curvature corresponding to the steering angle of each wheel.

[0084] Optionally, in one embodiment of the present application, after determining the turning radius of each wheel of the vehicle according to the current position, the turning requirement and the road curvature corresponding to the turning requirement, the determination module 300 further includes:

[0085] A fourth acquisition unit, used to acquire an input angle of a steering wheel;

[0086] A determination unit, configured to determine a steering angle and a braking torque of a corresponding wheel according to an input angle of the steering wheel and a turning radius of each wheel;

[0087] The execution unit is used to apply corresponding braking torque to each wheel by using an electronic mechanical braking system based on the braking torque of each wheel, so that the vehicle performs a turning action.

[0088] Optionally, in one embodiment of the present application, the determining unit includes:

[0089] A first determination subunit, configured to determine a steering angle of each wheel from a preset first mapping relationship based on an input angle of the steering wheel and a turning radius of each wheel;

[0090] The second determination subunit is used to determine the braking torque of each wheel from a preset second mapping relationship based on the steering angle of each wheel.

[0091] Optionally, in one embodiment of the present application, the execution unit includes:

[0092] A judging subunit, used to judge whether the braking torque of each wheel satisfies a preset turning condition of the vehicle;

[0093] The control subunit is used to apply corresponding braking torque to each wheel by using the electronic mechanical braking system when the braking torque of each wheel meets the preset turning conditions of the vehicle, so as to control the vehicle to perform the turning action.

[0094] Optionally, in one embodiment of the present application, the judging subunit includes:

[0095] a judging subassembly, for judging whether the braking torque of the front outer wheel of the vehicle is greater than the braking torque of the front inner wheel of the vehicle, and whether the braking torque of the rear outer wheel of the vehicle is greater than the braking torque of the rear inner wheel of the vehicle;

[0096] A determination subassembly is used to determine that the braking torque of each wheel satisfies a preset turning condition of the vehicle when the braking torque of the front outer wheel of the vehicle is greater than the braking torque of the front inner wheel of the vehicle, and the braking torque of the rear outer wheel of the vehicle is greater than the braking torque of the rear inner wheel of the vehicle, and to control the vehicle to perform a turning action.

[0097] Optionally, in one embodiment of the present application, after the corresponding braking torque is applied to each wheel by using the electronic mechanical braking system so that the vehicle performs a turning action, the execution unit further includes:

[0098] An acquisition subunit is used to acquire the real-time position of the vehicle during the turning process;

[0099] The execution subunit is used to determine a new turning radius of each wheel of the vehicle according to the real-time position of the turning process, the turning demand and the road curvature corresponding to the turning demand, so as to perform a turning action based on the new turning radius of each wheel.

[0100] Optionally, in one embodiment of the present application, the judging module includes:

[0101] A fifth acquisition unit, used to acquire a steering angle of a steering wheel and a state of a turn signal;

[0102] The determination unit is used to determine whether the vehicle meets the preset turning radius calculation condition when the steering angle is greater than a preset threshold and the turn signal light is in an on state.

[0103] In summary, the method for calculating the turning radius of a vehicle in the embodiment of the present application, when judging that the vehicle meets the preset turning radius calculation conditions, obtains the current position of the vehicle, the turning demand of the user, and the road curvature corresponding to the turning demand, thereby determining the turning radius of each wheel of the vehicle according to the current position of the vehicle, the turning demand of the user, and the road curvature corresponding to the turning demand. Thus, the problem that when calculating the turning radius of the vehicle, the accuracy of the obtained turning radius is reduced due to the lack of a correction process for the turning radius, which easily causes a deviation in the turning radius required by the user, and is not conducive to the user's driving experience is solved. By comprehensively obtaining the relevant turning demands of the user and the vehicle, the turning radius required by the current vehicle is calculated, and the obtained turning radius is corrected, thereby reducing the calculation error, improving the calculation accuracy of the vehicle turning radius, and effectively meeting the user's steering needs.

[0104] Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0105] It should be understood that the above-described method can be applied to Figure 4 In a vehicle of the structure shown.

[0106] In addition, an embodiment of the present application also protects a device, which may include a memory 401 and a processor 402, wherein the memory 401 stores an executable program code, and the processor 402 is used to call and execute the executable program code to execute the method for calculating the vehicle turning radius provided in the embodiment of the present application.

[0107] Furthermore, the device also includes: a communication interface 403 for communication between the memory 401 and the processor 402 .

[0108] In this embodiment, the functional modules of the device 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.

[0109] In the case of dividing each functional module according to each function, the device may also include a judgment module, an acquisition module, a determination 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.

[0110] It should be understood that the device provided in this embodiment is used to execute the above-mentioned method for calculating the turning radius of a vehicle, and thus can achieve the same effect as the above-mentioned implementation method.

[0111] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a car, the processing module may be used to control and manage the actions of the car. The storage module may be used to support the car to execute mutual program codes, etc.

[0112] The processing module may be a processor 402 or a controller, which may implement or execute various exemplary logic blocks, modules and circuits disclosed in the present application. The processor 402 may also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of a digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory 401.

[0113] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor 402 and a memory 401; wherein the memory 401 is used to store instructions, and when the processor calls and executes the instructions, the chip can execute the method for calculating the vehicle turning radius provided in the above embodiments.

[0114] 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 method for calculating a vehicle turning radius provided in the above embodiment.

[0115] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a method for calculating a vehicle turning radius provided in the above embodiment.

[0116] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0117] 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.

[0118] 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.

[0119] 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 method for calculating a vehicle turning radius, characterized in that: The following steps are involved: Determining whether the vehicle meets a preset turning radius calculation condition; If the vehicle meets the preset turning radius calculation condition, obtaining the current position of the vehicle, the turning demand of the user, and the road curvature corresponding to the turning demand; as well as The turning radius of each wheel of the vehicle is determined according to the current position, the turning requirement and the road curvature corresponding to the turning requirement.

2. The method according to claim 1, characterized in that: If the vehicle meets the preset turning radius calculation condition, obtaining the current position of the vehicle, the turning demand of the user, and the road curvature corresponding to the turning demand includes: Based on the current position and the turning requirement, obtaining the length of the road on both sides of the vehicle and the actual turning angle of the vehicle within a preset time period; The steering angle of each wheel is determined according to the actual turning angle, and the road curvature corresponding to the steering angle of each wheel is obtained according to the steering angle of each wheel and the length of the roads on both sides.

3. The method according to claim 1, characterized in that After determining the turning radius of each wheel of the vehicle according to the current position, the turning requirement and the road curvature corresponding to the turning requirement, the method further includes: Get the input angle of the steering wheel; Determining the steering angle and braking torque of the corresponding wheel according to the input angle of the steering wheel and the turning radius of each wheel; Based on the braking torque of each wheel, an electronic mechanical braking system is used to apply a corresponding braking torque to each wheel, so that the vehicle performs a turning action.

4. The method according to claim 3, characterized in that The determining the steering angle and the braking torque of the corresponding wheel according to the input angle of the steering wheel and the turning radius of each wheel includes: Determining the steering angle of each wheel from a preset first mapping relationship based on the input angle of the steering wheel and the turning radius of each wheel; Based on the steering angle of each wheel, the braking torque of each wheel is determined from a preset second mapping relationship.

5. The method according to claim 3, characterized in that: The step of applying a corresponding braking torque to each wheel by using the electronic mechanical braking system based on the braking torque of each wheel so that the vehicle performs a turning action includes: Determining whether the braking torque of each wheel satisfies a preset turning condition of the vehicle; When the braking torque of each wheel meets the preset turning condition of the vehicle, the electronic mechanical braking system is used to apply the corresponding braking torque to each wheel to control the vehicle to perform a turning action.

6. The method according to claim 5, characterized in that The determining whether the braking torque of each wheel satisfies a preset turning condition of the vehicle includes: Determining whether the braking torque of the front outer wheel of the vehicle is greater than the braking torque of the front inner wheel of the vehicle, and whether the braking torque of the rear outer wheel of the vehicle is greater than the braking torque of the rear inner wheel of the vehicle; When the braking torque of the front outer wheel of the vehicle is greater than the braking torque of the front inner wheel of the vehicle, and the braking torque of the rear outer wheel of the vehicle is greater than the braking torque of the rear inner wheel of the vehicle, it is determined that the braking torque of each wheel meets the preset turning condition of the vehicle, and the vehicle is controlled to perform a turning action.

7. The method according to claim 3, characterized in that After applying a corresponding braking torque to each wheel by using the electromechanical braking system so that the vehicle performs a turning action, the method further includes: Obtaining the real-time position of the vehicle during the turning process; A new turning radius of each wheel of the vehicle is determined according to the real-time position of the turning process, the turning demand and the road curvature corresponding to the turning demand, so as to perform a turning action based on the new turning radius of each wheel.

8. The method according to claim 1, characterized in that The determining whether the vehicle satisfies a preset turning radius calculation condition includes: Get the steering angle of the steering wheel and the status of the turn signal; When the steering angle is greater than a preset threshold and the turn signal light is in an on state, it is determined that the vehicle meets a preset turning radius calculation condition.

9. A vehicle, characterized in that: The vehicle comprises: a method for calculating a vehicle turning radius as described in any one of claims 1 to 8 above.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 8 is implemented.

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