Methods for calculating vehicle turning radius, vehicles and storage media

Abstract

This application provides a method for calculating the turning radius of a vehicle, a vehicle, and a storage medium. The method, applied in the field of vehicle technology, includes: when a vehicle meets preset turning radius calculation conditions, acquiring the vehicle's current position, the user's turning requirements, and the road curvature corresponding to those requirements; and then determining the turning radius of each wheel of the vehicle based on these conditions. This method, when the vehicle meets the turning radius calculation conditions, can calculate the required turning radius of the vehicle by comprehensively acquiring relevant turning requirements from both the user and the vehicle, and can correct the obtained turning radius, thereby reducing calculation errors, improving the accuracy of the vehicle's turning radius calculation, and effectively meeting the user's steering needs.

Description

Technical Field

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

[0002] With the continuous growth of vehicle ownership in my country, users have increasingly higher requirements for vehicle driver assistance functions, which are gradually becoming a standard feature of vehicles. Among them, the turning radius of a vehicle is an important indicator of driver assistance functions and plays a crucial role in the development of vehicle functions. Therefore, the accuracy of vehicle turning radius calculation is particularly important.

[0003] In related technologies, the main methods for calculating the turning radius of a vehicle are to use a steering wheel angle sensor to collect steering wheel angle signals and calculate the turning radius based on the angle signals, or to collect the turning trajectory of the vehicle based on a satellite positioning and navigation system and then calculate the 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 is relatively complex and can easily increase the calculation cost, reduce the calculation efficiency and accuracy when calculating the vehicle's turning radius, which urgently needs to be solved. Summary of the Invention

[0005] This application provides a method for calculating the turning radius of a vehicle, a vehicle, and a storage medium. The method can calculate the required turning radius of the vehicle by comprehensively acquiring the relevant turning requirements of the user and the vehicle when the vehicle meets the turning radius calculation conditions, and then correct the obtained turning radius to reduce calculation errors, improve the accuracy of vehicle turning radius calculation, and effectively meet the user's turning requirements.

[0006] In a first aspect, a method for calculating the turning radius of a vehicle is provided. The method includes: determining whether the vehicle meets the preset turning radius calculation conditions; if the vehicle meets the preset turning radius calculation conditions, obtaining the current position of the vehicle, the user's turning requirement, and the road curvature corresponding to the turning requirement; and determining the turning radius of each wheel of the vehicle based on the current position, the turning requirement, and the road curvature corresponding to the turning requirement.

[0007] The above technical solution enables the calculation of the required turning radius of a vehicle by comprehensively acquiring relevant turning requirements from both the user and the vehicle, thereby reducing calculation errors, improving the accuracy of the turning radius calculation, and effectively meeting the user's turning needs.

[0008] In conjunction with the first aspect, in some possible implementations, if the vehicle meets the preset turning radius calculation conditions, then obtaining the vehicle's current position, the user's turning requirements, and the road curvature corresponding to the turning requirements includes: based on the current position and the turning requirements, obtaining the lengths of the roads on both sides of the vehicle within a preset time period and the actual turning angle of the vehicle; determining the steering angle of each wheel based on the actual turning angle, and obtaining the road curvature corresponding to the steering angle of each wheel based on the steering angle of each wheel and the lengths of the roads on both sides.

[0009] The above technical solution can be used to calculate the turning radius of each wheel of the vehicle by collecting the vehicle's location, obtaining the user's turning requirements and the road curvature corresponding to the turning requirements, thereby meeting the user's turning requirements.

[0010] In combination with the first aspect and the above implementation, in some possible implementations, after determining the turning radius of each wheel of the vehicle based on the current position, the turning requirement, and the road curvature corresponding to the turning requirement, the method further includes: obtaining the input angle of the steering wheel; 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; and applying the corresponding braking torque to each wheel using the electromechanical braking system based on the braking torque of each wheel, so that the vehicle performs a turning action.

[0011] The above technical solution enables the determination of the turning radius of each wheel of the vehicle, and by combining the obtained steering wheel input angle, the steering angle and braking torque of each wheel can be obtained, enabling the vehicle to perform turning actions, thereby effectively obtaining the turning radius of the vehicle.

[0012] In combination with the first aspect and the above implementation, in some possible implementations, 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; and determining the braking torque of each wheel from a preset second mapping relationship based on the steering angle of each wheel.

[0013] The above technical solution can obtain the steering angle and braking torque of each wheel based on the turning radius of each wheel and the input angle of the steering wheel. This allows the vehicle to be controlled to achieve the turning radius required by the user based on the steering angle and steering torque, thus meeting the user's needs.

[0014] In combination with the first aspect and the above implementation methods, in some possible implementation methods, based on the braking torque of each wheel, the electromechanical braking system applies a corresponding braking torque to each wheel to enable the vehicle to perform 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, applying a corresponding braking torque to each wheel using the electromechanical braking system to control the vehicle to perform a turning action.

[0015] By employing the above technical solution, when the braking torque of each wheel meets the preset turning conditions, an electromechanical braking system applies a corresponding braking torque to each wheel, thereby controlling the vehicle to perform a turning action and improving the accuracy of turning.

[0016] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, determining whether the braking torque of each wheel satisfies the vehicle's preset turning conditions includes: determining whether the braking torque of the vehicle's front outer wheel is greater than the braking torque of the vehicle's front inner wheel, and whether the braking torque of the vehicle's rear outer wheel is greater than the braking torque of the vehicle's rear inner wheel; when the braking torque of the vehicle's front outer wheel is greater than the braking torque of the vehicle's front inner wheel, and the braking torque of the vehicle's rear outer wheel is greater than the braking torque of the vehicle's rear inner wheel, determining that the braking torque of each wheel satisfies the vehicle's preset turning conditions, and controlling the vehicle to perform a turning action.

[0017] By using the above technical solution, the vehicle's preset turning conditions are obtained by judging the braking torque of the front and rear outer wheels and the front and rear inner wheels, thereby controlling the vehicle to turn to meet the user's turning needs.

[0018] In combination with the first aspect and the above implementation methods, in some possible implementation methods, after applying a corresponding braking torque to each wheel using the electromechanical braking system to enable the vehicle to perform a turning action, the method further includes: obtaining the real-time position of the vehicle during the turning process; determining a new turning radius for each wheel of the vehicle based on the real-time position of the turning process, the turning requirement, and the road curvature corresponding to the turning requirement, so as to perform a turning action based on the new turning radius of each wheel.

[0019] The above technical solution can improve the accuracy of vehicle turning radius calculation by obtaining the real-time position of the vehicle during the turning process and correcting the turning radius according to the user's turning requirements and the corresponding road curvature.

[0020] In combination with the first aspect and the above implementation methods, in some possible implementation methods, determining whether the vehicle meets the preset turning radius calculation conditions includes: obtaining the steering angle of the steering wheel and the turn signal status; 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] By acquiring the steering wheel angle and turn signal status, the turning radius of the vehicle can be calculated when the steering angle is greater than a preset threshold and the turn signal is on, thereby improving steering accuracy and meeting the user's steering needs.

[0022] Secondly, a device for calculating the turning radius of a vehicle is provided. The device includes: a judgment module for judging whether the vehicle meets preset turning radius calculation conditions; an acquisition module for acquiring the current position of the vehicle, the user's turning requirement, and the road curvature corresponding to the turning requirement if the vehicle meets the preset turning radius calculation conditions; and a determination module for determining the turning radius of each wheel of the vehicle based on the current position, the turning requirement, and the road curvature corresponding to the turning requirement.

[0023] In conjunction with the second aspect, in some possible implementations, the acquisition module includes: a first acquisition unit, configured to acquire the road lengths 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; a second acquisition unit, configured to determine the steering angle of each wheel based on the actual turning angle, and obtain the road curvature corresponding to the steering angle of each wheel based on the steering angle of each wheel and the road lengths on both sides; and a third acquisition unit, configured to obtain the turning radius of each wheel based on the reciprocal of the road curvature corresponding to the steering angle of each wheel.

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

[0025] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the determining unit includes: a first determining 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; and a second determining 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 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 conditions of the vehicle; and a control subunit, used to apply a corresponding braking torque to each wheel using the electromechanical braking system when the braking torque of each wheel meets the preset turning conditions of the vehicle, thereby controlling the vehicle to perform a turning action.

[0027] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the judgment subunit includes: a judgment subcomponent, used to determine 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; and a determination subcomponent, used to determine that 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, determine that the braking torque of each wheel meets the preset turning conditions of the vehicle, and control the vehicle to perform a turning action.

[0028] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, after the electromechanical braking system applies a corresponding braking torque to each wheel to enable the vehicle to perform a turning action, the execution unit further includes: an acquisition subunit for acquiring the real-time position of the vehicle during the turning process; and an execution subunit for determining a new turning radius for each wheel of the vehicle based on the real-time position of the turning process, the turning requirement, and the road curvature corresponding to the turning requirement, so as to execute the turning action based on the new turning radius of each wheel.

[0029] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the judgment module includes: a fifth acquisition unit, used to acquire the steering angle of the steering wheel and the turn signal status; and a determination 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] Thirdly, a vehicle is provided, including: a method for calculating the turning radius of the vehicle as described in the above embodiments.

[0031] Fourthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof. Attached Figure Description

[0032] Figure 1 A flowchart illustrating a method for calculating the turning radius of a vehicle, provided as an embodiment of this application;

[0033] Figure 2 This is a schematic diagram illustrating the specific structure for calculating the turning radius of a vehicle according to one embodiment of this application.

[0034] Figure 3 A block diagram illustrating a vehicle turning radius calculation device provided in an embodiment of this application;

[0035] Figure 4 This is a structural schematic diagram of the vehicle provided in an embodiment of this application. Detailed Implementation

[0036] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0037] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting 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 that feature.

[0038] Traditional methods for calculating vehicle turning radius, when obtained through steering wheel angle sensors or satellite positioning and navigation systems, lack a correction process for this turning radius. This results in low accuracy of the calculated turning radius, easily causing deviations from the user's desired turning radius and negatively impacting the driving experience. The vehicle turning radius calculation method of this application, based on an electromechanical braking system that independently controls multiple wheels, can, after calculating the turning radius, obtain the real-time position of the vehicle during the turning process and correct the turning radius according to the user's turning requirements and the corresponding road curvature. This reduces calculation errors, improves the accuracy of the calculated turning radius, and effectively meets the user's turning needs. It should be noted that the vehicle chassis structure in this application mainly includes four EMB (Electromechanical Brake System) actuators, which can independently control the four wheels. The EMB is an actuator driven by a caliper motor, mounted on the caliper of the braking mechanism, directly braking the vehicle without the need for brake fluid or other media. The EMB replaces the traditional hydraulic brake for main braking, expanding its application range. The following will combine... Figure 1 The method for calculating the turning radius of a vehicle is explained in detail.

[0039] Figure 1 This is a schematic flowchart illustrating a method for calculating the turning radius of a vehicle, as provided in an embodiment of this application.

[0040] Before introducing the method for calculating the turning radius of a vehicle according to the embodiments of this application, let me briefly introduce the vehicle structure involved in the method for calculating the turning radius of a vehicle according to the embodiments of this application.

[0041] like Figure 2 As shown, the vehicle system structure includes: a domain controller, four wheels, two parking control chips, two external power supplies, four wheel speed sensors, and two pedal travel sensors. The domain controller is connected to two external power supplies, designated Power Supply 1 and Power Supply 2. The four wheels are designated as the left front wheel controller (MCU_FL), right front wheel controller (MCU_FR), left rear wheel controller (MCU_RL), and right rear wheel controller (MCU_RR). The two parking control chips are installed on the left rear wheel controller (MCU_RL) and right rear wheel controller (MCU_RR), respectively. The four wheel speed sensors are installed on each of the four wheels to collect the rotational speed of each wheel.

[0042] Specifically, the domain controller integrates two main control chips and two power supply chips, which provide power to the domain controller and control the vehicle's turning actions. Two pedal travel sensors collect the braking force corresponding to the actual travel of the vehicle's brake pedal when it is triggered. MCU_FL and MCU_FR are connected, and MCU_RL and MCU_RR are connected. Power supply 1 is connected to MCU_FL, MCU_RL and the domain controller, 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, and provides power to MCU_FR, MCU_RR and the domain controller. Power supply 1 and power supply 2 can be redundant to provide power to the entire vehicle system to ensure the normal execution of the vehicle's steering mode. Since the vehicle in this embodiment adopts an independent control strategy for each wheel based on an electromechanical braking system, the domain controller in this embodiment can control the four wheels to turn separately. Specifically, MCU_FL can control the left front wheel to turn, MCU_FR can control the right front wheel to turn, MCU_RL can control the left rear wheel to turn, and MCU_RR can control the right rear wheel to turn, so that each wheel of the vehicle turns according to the applied braking torque, thereby meeting the user's turning needs.

[0043] For example, such as 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 this application, determining whether a vehicle meets the preset turning radius calculation conditions includes: obtaining 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 is on, determining that the vehicle meets the preset turning radius calculation conditions.

[0046] The preset turning radius calculation conditions can be set by those skilled in the art based on actual turning radius application requirements, and the preset threshold can be a threshold set by those skilled in the art based on the application data obtained by the turning radius calculation, or a threshold obtained through multiple computer simulations, without specific limitations here.

[0047] Specifically, in this embodiment of the application, in order to enable users to obtain the vehicle steering requirements during driving, it is first necessary to determine whether the current vehicle meets the preset turning radius calculation conditions, so that the turning radius of the vehicle can be calculated when the preset turning radius calculation conditions are met, so as to control the vehicle to perform turning actions and thus realize the user's steering requirements.

[0048] Specifically, users can navigate using in-vehicle high-precision maps while driving. If a user drives to a turning section, it indicates that the user needs to turn. At this time, the steering angle sensor can be used in conjunction with the in-vehicle high-precision map to obtain the steering wheel angle, and the vehicle's turn signal status can be obtained through the user's control of the turn signal switch. When the steering wheel angle is greater than a preset threshold and the turn signal 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 then the vehicle can be controlled to perform a turning action.

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

[0050] Optionally, in one embodiment of this application, if the vehicle meets the preset turning radius calculation conditions, the current position of the vehicle, the user's turning requirements, and the road curvature corresponding to the turning requirements are obtained, including: based on the current position and turning requirements, obtaining the lengths of the roads on both sides of the vehicle and the actual turning angle of the vehicle within a preset time period; 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 lengths of the roads on both sides.

[0051] The preset duration can be a duration set by those skilled in the art based on actual road condition information, or it can be a duration obtained through multiple computer simulations; no specific limitation is made here.

[0052] Specifically, in this embodiment, if the vehicle meets the preset turning radius calculation conditions, the vehicle's current position information can be obtained through an onboard positioning system, positioning software, or a panoramic surround-view camera. Furthermore, the user's turning needs can be determined through the vehicle's turn signals. Based on the current position information and the user's turning needs, the steering angle of each wheel and the road lengths on both sides of the vehicle within a preset time period are obtained, thus yielding the road curvature corresponding to the steering angle of each wheel. The formula for calculating the road curvature is as follows:

[0053] K = 2α / (a1 + a2);

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

[0055] Specifically, if the vehicle meets the preset turning radius calculation conditions, when the user needs to control the vehicle to turn at an intersection, the vehicle positioning system can locate the vehicle's real-time position. After collecting the vehicle's position information, the system determines the user's turning needs based on the direction of the user's turn signal. When the user turns on the right turn signal, it determines that the user's current turning needs are to turn right; when the user turns on the left turn signal, it determines that the user's current turning needs are to turn left. At this time, the panoramic surround view camera obtains the road lengths on both sides of the vehicle within a preset time period, such as the road lengths a1 and a2 on both sides within time Δt, as well as the vehicle's actual turning angle α. Based on the actual turning angle, the steering angle of each wheel is determined. Thus, the road curvature corresponding to the steering angle of each wheel can be obtained through the road curvature calculation formula.

[0056] For example, if the user's current turning requirement is to turn right, the panoramic surround-view camera acquires the road lengths on both sides of the right-turn segment within a preset time period. Based on the actual turning angle, the steering angle of each wheel when turning right is determined. Thus, the road curvature corresponding to the steering angle of each wheel when turning right can be obtained using the road curvature calculation formula. If the user's current turning requirement is to turn left, the panoramic surround-view camera acquires the road lengths on both sides of the left-turn segment within a preset time period. Based on the actual turning angle, the steering angle of each wheel when turning left is determined. Thus, the road curvature corresponding to the steering angle of each wheel when turning left can be obtained using the road curvature calculation formula.

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

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

[0059] Specifically, in this embodiment of the application, the turning radius of each wheel is obtained based on the user's turning requirements and the road curvature corresponding to the turning requirements, namely the actual turning angle of the vehicle and the reciprocal (1 / K) of the road curvature corresponding to the steering angle of each wheel.

[0060] Optionally, in one embodiment of this application, after determining the turning radius of each wheel of the vehicle based on the current position, turning requirement, and road curvature corresponding to the turning requirement, the method further includes: obtaining the input angle of the steering wheel; 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; and applying the corresponding braking torque to each wheel using an electromechanical braking system based on the braking torque of each wheel, so that the vehicle performs a turning action.

[0061] Optionally, in one embodiment of this application, 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; and determining the braking torque of each wheel from a preset second mapping relationship based on the steering angle of each wheel.

[0062] The preset first mapping relationship and the preset second mapping relationship can be set by those skilled in the art according to actual usage needs, or they can be set through computer simulation, and no specific limitation is made here.

[0063] Specifically, the preset first mapping relationship and the preset second mapping relationship in the embodiments of this application can both be obtained by calibration. That is, the steering angle of each wheel can be determined by the input angle of the steering wheel and the turning radius of each wheel, and the braking torque of each wheel can be determined by the steering angle of each wheel.

[0064] Specifically, in this embodiment, after determining the turning radius of each wheel of the vehicle, the angle sensor installed on the steering wheel, in conjunction with the vehicle's electronic power steering system, collects the steering wheel angle signal, i.e., the input angle of the steering wheel. Then, communication is established between the steering wheel angle sensor and the steering wheel control system via 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, based on the input angle of the steering wheel and the preset first mapping relationship corresponding to the turning radius of each wheel, the steering angle of each wheel is determined. Since the steering angle of each wheel corresponds to a unique braking torque for each wheel, the braking torque of each wheel can be determined from the 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 electromechanical braking system applies the corresponding braking torque to each wheel, causing the vehicle to perform a turning action.

[0065] It should be noted that the steering wheel angle sensor in this application embodiment can be a sensor with torque acquisition function such as TAS (Torque and Angle Sensor) or TIS (Torque Index Sensor), and no specific limitation is made here.

[0066] Optionally, in one embodiment of this application, based on the braking torque of each wheel, an electromechanical 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 vehicle's preset turning conditions; when the braking torque of each wheel meets the vehicle's preset turning conditions, using the electromechanical braking system to apply a corresponding braking torque to each wheel to control the vehicle to perform a turning action.

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

[0068] The preset turning conditions can be set by those skilled in the art according to actual usage needs, or they can be set through computer simulation; no specific limitations are made here.

[0069] Specifically, after obtaining the braking torque of each wheel in this embodiment, it is necessary to further determine whether the braking torque of each wheel meets the vehicle's preset turning conditions. When the braking torque of each wheel meets the vehicle's preset turning conditions, the corresponding braking torque is applied to each wheel using an electromechanical braking system.

[0070] Specifically, in determining whether the braking torque of each wheel meets the vehicle's preset turning conditions, firstly, the vehicle's brakes acquire the braking torques of the front outer wheel, rear outer wheel, front inner wheel, and rear inner wheel respectively. Secondly, it is determined whether the braking torque of the front outer wheel is greater than that of the front inner wheel, and whether the braking torque of the rear outer wheel is greater than that of the rear inner wheel. If the braking torque of the front outer wheel is greater than that of the front inner wheel, and the braking torque of the rear outer wheel is greater than that of the rear inner wheel, then it is determined that the braking torque of each wheel meets the vehicle's preset turning conditions. At this point, the electromechanical braking system applies the corresponding braking torque to each wheel, causing the vehicle to perform a turning action.

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

[0072] Optionally, in one embodiment of this application, after applying a corresponding braking torque to each wheel using an electromechanical braking system to enable the vehicle to perform a turning action, the method further includes: obtaining the real-time position of the vehicle during the turning process; determining the new turning radius of each wheel of the vehicle based on the real-time position of the turning process, the turning requirement, and the road curvature corresponding to the turning requirement, so as to perform the turning action based on the new turning radius of each wheel.

[0073] Specifically, in this embodiment of the application, after the vehicle performs a turning action, the vehicle positioning system can continuously acquire the real-time position of the vehicle during the turning process. Based on the acquired real-time position of the vehicle, and in conjunction with the user's turning requirements and the road curvature corresponding to the turning requirements, the new turning radius of each wheel of the vehicle is determined. This corrects 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, thereby improving the turning accuracy of the vehicle and enabling the user to achieve the vehicle's turning with optimal turning accuracy.

[0074] In summary, the vehicle turning radius calculation method of this application, when determining that the vehicle meets the preset turning radius calculation conditions, obtains the vehicle's current position, the user's turning requirements, and the road curvature corresponding to the turning requirements. Based on the vehicle's current position, the user's turning requirements, and the road curvature corresponding to the turning requirements, the turning radius of each wheel of the vehicle is determined. This solves the problem that in calculating the vehicle's turning radius, the lack of a correction process reduces the accuracy of the obtained turning radius, easily causing deviations from the user's required turning radius and negatively impacting the user's driving experience. By comprehensively obtaining the relevant turning requirements of the user and the vehicle, the required turning radius of the current vehicle is calculated, and the obtained turning radius is corrected, thereby reducing calculation errors, improving the accuracy of the vehicle's turning radius calculation, and effectively meeting the user's steering needs.

[0075] Figure 3 This is a block diagram of a vehicle turning radius calculation device provided in an embodiment of this application.

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

[0077] The judgment module 100 is used to determine whether the vehicle meets the preset turning radius calculation conditions.

[0078] The acquisition module 200 is used to acquire the vehicle's current position, the user's turning requirements, and the road curvature corresponding to the turning requirements 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 based on the current position, turning requirements, and the road curvature corresponding to the turning requirements.

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

[0081] The 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 turning requirements;

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

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

[0084] Optionally, in one embodiment of this application, after determining the turning radius of each wheel of the vehicle based on the current location, turning requirements, and the road curvature corresponding to the turning requirements, the determining module 300 further includes:

[0085] The fourth acquisition unit is used to acquire the input angle of the steering wheel;

[0086] The determining unit is used to determine 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;

[0087] The actuation unit is used to apply a corresponding braking torque to each wheel using an electromechanical braking system based on the braking torque of each wheel, so that the vehicle can perform a turning action.

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

[0089] The first determining subunit is 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;

[0090] The second determining 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 this application, the execution unit includes:

[0092] The judgment subunit is used to determine whether the braking torque of each wheel meets the vehicle's preset turning conditions.

[0093] The control subunit is used to apply a corresponding braking torque to each wheel using an electromechanical braking system when the braking torque of each wheel meets the vehicle's preset turning conditions, thereby controlling the vehicle to perform a turning action.

[0094] Optionally, in one embodiment of this application, the determining subunit includes:

[0095] The determination sub-component is used to determine 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] The determination sub-component is used to determine that the braking torque of each wheel meets the vehicle's preset turning conditions when the braking torque of the vehicle's front outer wheel is greater than the braking torque of the vehicle's front inner wheel, and the braking torque of the vehicle's rear outer wheel is greater than the braking torque of the vehicle's rear inner wheel, and then controls the vehicle to perform a turning action.

[0097] Optionally, in one embodiment of this application, after the electromechanical braking system applies a corresponding braking torque to each wheel to cause the vehicle to perform a turning action, the execution unit further includes:

[0098] The acquisition sub-unit is used to acquire the real-time position of the vehicle during the turning process;

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

[0100] Optionally, in one embodiment of this application, the determination module includes:

[0101] The fifth acquisition unit is used to acquire the steering wheel angle and turn signal status;

[0102] The determination unit is 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 is on.

[0103] In summary, the vehicle turning radius calculation method of this application, when determining that the vehicle meets the preset turning radius calculation conditions, obtains the vehicle's current position, the user's turning requirements, and the road curvature corresponding to the turning requirements. Based on the vehicle's current position, the user's turning requirements, and the road curvature corresponding to the turning requirements, the turning radius of each wheel of the vehicle is determined. This solves the problem that in calculating the vehicle's turning radius, the lack of a correction process reduces the accuracy of the obtained turning radius, easily causing deviations from the user's required turning radius and negatively impacting the user's driving experience. By comprehensively obtaining the relevant turning requirements of the user and the vehicle, the required turning radius of the current vehicle is calculated, and the obtained turning radius is corrected, thereby reducing calculation errors, improving the accuracy of the vehicle's turning radius calculation, and effectively meeting the user's steering needs.

[0104] Figure 4 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0105] It should be understood that the methods described above can be applied to... Figure 4 In the vehicle with the structure shown.

[0106] Furthermore, this application also protects an apparatus that may include a memory 401 and a processor 402, wherein the memory 401 stores executable program code, and the processor 402 is used to call and execute the executable program code to perform the vehicle turning radius calculation method provided in this application.

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

[0108] This embodiment can divide the device into functional modules based on the above method example. For example, each module can correspond to a separate function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0109] When the functional modules are divided according to their respective functions, the device may also include a judgment module, an acquisition module, and a determination module. It should be noted that all relevant content of each step involved in the above method embodiments can be referenced to the functional description of the corresponding functional module, and will not be repeated here.

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

[0111] When using integrated units, the device may include a processing module and a storage module. When applied to an automobile, the processing module can be used to control and manage the vehicle's movements. The storage module can be used to support the vehicle in executing program code, 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 as disclosed herein. The processor 402 may also be a combination of computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and microprocessors, etc., and the storage module may be a memory 401.

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

[0114] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described related method steps to implement the method for calculating the turning radius of a vehicle provided in the above embodiment.

[0115] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned steps to implement the method for calculating the turning radius of a vehicle provided in the above embodiment.

[0116] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0117] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0118] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0119] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for calculating the turning radius of a vehicle, characterized in that, Includes the following steps: Determine whether the vehicle meets the preset turning radius calculation conditions; If the vehicle meets the preset turning radius calculation conditions, then the current position of the vehicle, the user's turning requirements, and the road curvature corresponding to the turning requirements are obtained. as well as The turning radius of each wheel of the vehicle is determined based on the current position, the turning requirement, and the road curvature corresponding to the turning requirement. If the vehicle meets the preset turning radius calculation conditions, then the current position of the vehicle, the user's turning requirements, and the road curvature corresponding to the turning requirements are obtained, including: based on the current position and the turning requirements, obtaining the road lengths on both sides of the vehicle within a preset time period 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 lengths on both sides.

2. The method according to claim 1, characterized in that, After determining the turning radius of each wheel of the vehicle based on the current location, the turning requirement, and the road curvature corresponding to the turning requirement, the method further includes: Obtain the input angle of the steering wheel; The steering angle and braking torque of the corresponding wheel are determined based on the input angle of the steering wheel and the turning radius of each wheel. Based on the braking torque of each wheel, an electromechanical braking system is used to apply a corresponding braking torque to each wheel, causing the vehicle to perform a turning maneuver.

3. The method according to claim 2, characterized in that, The step of 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: Based on the input angle of the steering wheel and the turning radius of each wheel, the steering angle of each wheel is determined from a preset first mapping relationship; Based on the steering angle of each wheel, the braking torque of each wheel is determined from a preset second mapping relationship.

4. The method according to claim 2, characterized in that, The step of applying a corresponding braking torque to each wheel using the electromechanical braking system, based on the braking torque of each wheel, to enable the vehicle to perform a turning maneuver, includes: Determine whether the braking torque of each wheel meets the vehicle's preset turning conditions; When the braking torque of each wheel meets the preset turning conditions of the vehicle, the electromechanical braking system applies a corresponding braking torque to each wheel to control the vehicle to perform a turning action.

5. The method according to claim 4, characterized in that, The step of determining whether the braking torque of each wheel meets the preset turning conditions of the vehicle includes: Determine whether the braking torque of the outer front wheel of the vehicle is greater than the braking torque of the inner front wheel of the vehicle, and whether the braking torque of the outer rear wheel of the vehicle is greater than the braking torque of the inner rear wheel of the vehicle. When the braking torque of the vehicle's front outer wheel is greater than the braking torque of the vehicle's front inner wheel, and the braking torque of the vehicle's rear outer wheel is greater than the braking torque of the vehicle's rear inner wheel, it is determined that the braking torque of each wheel meets the vehicle's preset turning conditions, and the vehicle is controlled to perform a turning action.

6. The method according to claim 2, characterized in that, After applying a corresponding braking torque to each wheel using the electromechanical braking system to enable the vehicle to perform a turning maneuver, the method further includes: Obtain the real-time position of the vehicle during the turning process; The new turning radius of each wheel of the vehicle is determined based on the real-time position of the turning process, the turning requirement, and the road curvature corresponding to the turning requirement, so as to perform the turning action based on the new turning radius of each wheel.

7. The method according to claim 1, characterized in that, The determination of whether the vehicle meets the preset turning radius calculation conditions includes: Get the steering wheel angle and turn signal status; When the steering angle is greater than a preset threshold and the turn signal is on, the vehicle is determined to meet the preset turning radius calculation conditions.

8. A vehicle, characterized in that, The vehicle includes: a method for calculating the turning radius of a vehicle as described in any one of claims 1-7 above.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the method as described in any one of claims 1-7.

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