Vehicle U-turn control method and device and vehicle

Abstract

A vehicle U-turn control method and device and a vehicle, the method comprising: when determining that a vehicle U-turn function state is an activated state, calculating a front axle motor target torque, a left rear motor target torque and a right rear motor target torque of the vehicle to apply a negative torque to an inner side rear wheel when the vehicle turns around, and driving torque is applied to front wheels and rear wheels on the outer side when the vehicle turns around, so that the vehicle is controlled to turn around. According to the method, when it is determined that the turning function state of the vehicle is an activated state, the target torque of a front axle motor, the target torque of a left rear motor and the target torque of a right rear motor are obtained, negative torque is applied to inner rear wheels of the vehicle, and driving torque is applied to front wheels and outer rear wheels, so that the purpose of reducing the turning radius of the vehicle is achieved; the vehicle safety risk caused by turning or turning around in a place with many vehicles is greatly reduced, and meanwhile the problem that tires of the vehicles are rubbed is avoided to a great extent.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and more specifically to a vehicle U-turn control method, device and vehicle. Background Art

[0002] Vehicles usually need to turn or make a U-turn while driving. The traditional steering function is achieved by the driver manipulating the steering wheel to control the front wheel angle, and the vehicle has a large turning radius. For situations where vehicles need to turn or make a U-turn on narrow roads, ordinary normal steering is limited by the large turning diameter and cannot complete the U-turn or steering. Especially when turning or making a U-turn in places with many vehicles, the driver needs to adjust the vehicle posture many times due to the surrounding environmental factors, which can easily cause road traffic congestion and may cause scratches with surrounding objects or pedestrians, causing damage to people or property. Therefore, it is necessary to develop a function to reduce the turning radius when turning and passing to improve vehicle maneuverability.

[0003] In the related technology, braking torque is applied to the diagonal wheels on one side of the vehicle through hydraulics to control the wheels of the vehicle to be stationary, and driving force is applied to the diagonal wheels on the other side to enable the vehicle to rotate around the center of the vehicle. The fusion of hydraulics and driving force makes the overall driving experience of the vehicle poor, with obvious abruptness and frustration. Summary of the invention

[0004] The present application is proposed to solve the above problems. According to one aspect of the present application, a vehicle U-turn control method is provided, the method comprising: when determining that the U-turn function state of the vehicle is activated, calculating the target torque of the front axle motor, the target torque of the left rear motor and the target torque of the right rear motor of the vehicle, so as to apply a negative torque to the inner rear wheel when the vehicle turns, and applying a driving torque to the front wheel and the outer rear wheel when the vehicle turns, so as to control the vehicle to make a U-turn.

[0005] In one embodiment of the present application, the calculation of the front axle motor target torque, the left rear motor target torque and the right rear motor target torque of the vehicle includes: determining the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed of the vehicle according to a first preset relationship table; obtaining the front axle motor target speed, the left rear motor target speed and the right rear motor target speed according to the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed, and converting the front axle motor target speed, the left rear motor target speed and the right rear motor target speed into the front axle motor target torque, the left rear motor target torque and the right rear motor target torque, respectively.

[0006] In one embodiment of the present application, the front axle motor target speed, the left rear motor target speed and the right rear motor target speed are obtained according to the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed, including: obtaining the wheel rolling radius, the front axle motor transmission ratio, the left rear motor transmission ratio and the right rear motor transmission ratio of the vehicle; obtaining the front axle motor target speed based on the front wheel target speed, the wheel rolling radius and the front axle motor transmission ratio, obtaining the left rear motor target speed based on the left rear wheel target speed, the wheel rolling radius and the left rear motor transmission ratio, and obtaining the right rear motor target speed based on the right rear wheel target speed, the wheel rolling radius and the right rear motor transmission ratio.

[0007] In one embodiment of the present application, the calculation of the vehicle's front axle motor target torque, left rear motor target torque and right rear motor target torque is used to apply a negative torque to the inner rear wheel when the vehicle turns around, and to apply a driving torque to the front wheel and the outer rear wheel when the vehicle turns around, including: when the vehicle turns around to the left, converting the left rear motor target speed into a first left rear motor target torque for applying a negative torque to the left rear wheel, converting the front axle motor target speed into a first front axle motor target torque for applying a driving torque to the front wheel, and converting the right rear motor target speed into a first right rear motor target torque for applying a driving torque to the right rear wheel.

[0008] In one embodiment of the present application, the calculation of the vehicle's front axle motor target torque, left rear motor target torque and right rear motor target torque is used to apply a negative torque to the inner rear wheel when the vehicle turns around, and to apply a driving torque to the front wheel and the outer rear wheel when the vehicle turns around, including: when the vehicle turns around right, converting the right rear motor target speed into a second right rear motor target torque for applying a negative torque to the right rear wheel, converting the front axle motor target speed into a second front axle motor target torque for applying a driving torque to the front wheel, and converting the left rear motor target speed into a second left rear motor target torque for applying a driving torque to the left rear wheel.

[0009] In one embodiment of the present application, after controlling the vehicle to make a U-turn, the method also includes: when the activation state is in function exit, limiting and smoothing the front wheel target speed, the left rear wheel target speed and the right rear wheel target speed to reach a preset wheel speed, limiting and smoothing the first front axle motor target torque, the first left rear motor target torque and the first right rear motor target torque; calculating the third front axle motor target torque, the third left rear motor target torque and the third right rear motor target torque based on the processed first front axle motor target torque, the processed first left rear motor target torque and the processed first right rear motor target torque to control the vehicle to stop turning.

[0010] In one embodiment of the present application, the third front axle motor target torque, the third left rear motor target torque and the third right rear motor target torque are calculated based on the processed first front axle motor target torque, the processed first left rear motor target torque and the processed first right rear motor target torque, including: obtaining the third front axle motor target torque based on the processed first front axle motor target torque and the front axle motor transmission ratio; obtaining the third left rear motor target torque based on the processed first left rear motor target torque and the left rear motor transmission ratio; obtaining the third right rear motor target torque based on the processed first right rear motor target torque and the right rear motor transmission ratio.

[0011] In one embodiment of the present application, after controlling the vehicle to make a U-turn, the method also includes: when the activation state is in function exit, limiting and smoothing the front wheel target speed, the left rear wheel target speed and the right rear wheel target speed to reach a preset wheel speed, limiting and smoothing the second front axle motor target torque, the second left rear motor target torque and the second right rear motor target torque; calculating the fourth front axle motor target torque, the fourth left rear motor target torque and the fourth right rear motor target torque based on the processed second front axle motor target torque, the processed second left rear motor target torque and the processed second right rear motor target torque to control the vehicle to stop turning.

[0012] In one embodiment of the present application, the fourth front axle motor target torque, the fourth left rear motor target torque and the fourth right rear motor target torque are calculated based on the processed second front axle motor target torque, the processed second left rear motor target torque and the processed second right rear motor target torque, including: obtaining the fourth front axle motor target torque based on the processed second front axle motor target torque and the front axle motor transmission ratio; obtaining the fourth left rear motor target torque based on the processed second left rear motor target torque and the left rear motor transmission ratio; obtaining the fourth right rear motor target torque based on the processed second right rear motor target torque and the right rear motor transmission ratio.

[0013] In one embodiment of the present application, the method further includes: calculating a turning radius of the vehicle, and displaying a turning trajectory of the vehicle through a media interaction host.

[0014] In one embodiment of the present application, the calculating the turning radius of the vehicle includes: determining the turning radius according to a second preset relationship table.

[0015] In one embodiment of the present application, determining the state of the vehicle's U-turn function includes: acquiring state information of the vehicle; and determining the state of the vehicle's U-turn function based on the state information.

[0016] In one embodiment of the present application, the status information includes at least one of the following: steering wheel angle, braking depth, vehicle speed, gear information, vehicle slope and throttle depth.

[0017] In one embodiment of the present application, the condition for the vehicle's U-turn function to be in an activated state is at least one of the following: the steering wheel angle is within a steering wheel angle threshold range; the braking depth is within a braking depth threshold range; the vehicle speed is less than a vehicle speed threshold and maintained for a first threshold time; the gear information is a forward gear; the vehicle slope is less than a slope threshold and maintained for a second threshold time; the throttle depth is greater than a throttle intervention threshold.

[0018] According to another aspect of the present application, a vehicle U-turn control device is provided, the device comprising a processor and a memory, wherein the memory stores a computer executable program run by the processor, and when the computer executable program is run by the processor, the processor executes the above-mentioned vehicle U-turn control method.

[0019] According to yet another aspect of the present application, a vehicle is provided, comprising the above-mentioned vehicle U-turn control device.

[0020] According to another aspect of the present application, a storage medium is provided, on which a computer program executed by a processor is stored. When the computer program is executed by the processor, the processor executes the above-mentioned vehicle U-turn control method.

[0021] According to another aspect of the present application, a computer program is provided. When the computer program is executed by the processor, the processor executes the above-mentioned vehicle U-turn control method.

[0022] The vehicle U-turn control method, device and vehicle of the present application obtain the target torque of the front axle motor, the target torque of the left rear motor and the target torque of the right rear motor when determining that the U-turn function state of the vehicle is activated, so as to apply negative torque to the inner rear wheel of the vehicle and apply driving torque to the front wheel and the outer rear wheel, thereby achieving the purpose of reducing the turning radius of the vehicle, further reducing the vehicle safety risks caused by turning or U-turning in many places of the vehicle, and at the same time avoiding the problem of vehicle tire wear to a great extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0024] Figure 1 A schematic block diagram of an example electronic device showing a vehicle U-turn control method and device according to an embodiment of the present application.

[0025] Figure 2 A schematic flow chart of a vehicle U-turn control method according to an embodiment of the present application is shown.

[0026] Figure 3 A schematic structural diagram showing the functional state of a vehicle U-turn according to an embodiment of the present application.

[0027] Figure 4 A schematic diagram of a vehicle showing a U-turn according to an embodiment of the present application.

[0028] Figure 5 A schematic diagram of another vehicle showing a U-turn according to an embodiment of the present application.

[0029] Figure 6 A schematic structural block diagram of a vehicle U-turn control device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the present application more obvious, the example embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present application.

[0031] First, refer to Figure 1An exemplary electronic device 100 for implementing the vehicle U-turn control method and apparatus according to an embodiment of the present invention is described.

[0032] like Figure 1 As shown, the electronic device 100 includes one or more processors 102, one or more storage devices 104, an input device 106, and an output device 108, and these components are interconnected through a bus system 110 and / or other forms of connection mechanisms (not shown). It should be noted that Figure 1 The components and structures of the electronic device 100 shown are merely exemplary and non-limiting. The electronic device may also have other components and structures as required.

[0033] The processor 102 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 100 to perform desired functions.

[0034] The storage device 104 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 102 may run the program instructions to implement the client functions (implemented by the processor) and / or other desired functions in the embodiments of the present invention described below. Various applications and various data, such as various data used and / or generated by the application, may also be stored in the computer-readable storage medium.

[0035] The input device 106 may be a device used by a user to input instructions, and may include one or more of a keyboard, a mouse, a microphone, a touch screen, etc. In addition, the input device 106 may also be any interface for receiving information.

[0036] The output device 108 can output various information (such as images or sounds) to the outside (such as a user), and can include one or more of a display, a speaker, etc. In addition, the output device 108 can also be any other device with an output function.

[0037] For example, an example electronic device for implementing the vehicle U-turn control method and apparatus according to an embodiment of the present invention may be implemented as a smart vehicle terminal or the like.

[0038] Next, we will refer to Figure 2The vehicle U-turn control method 200 according to an embodiment of the present application is described. Figure 2 FIG. 2 shows a schematic flow chart of a vehicle U-turn control method 200 according to an embodiment of the present application. Figure 2 As shown, the vehicle U-turn control method 200 according to the embodiment of the present application may include the following steps:

[0039] In step S210, when it is determined that the vehicle's U-turn function state is activated, the vehicle's front axle motor target torque, left rear motor target torque and right rear motor target torque are calculated to apply negative torque to the inner rear wheels when the vehicle turns, and to apply driving torque to the front wheels and the outer rear wheels when the vehicle turns, thereby controlling the vehicle to make a U-turn.

[0040] In the embodiment of the present application, the vehicle U-turn function state at this time is first determined by the vehicle state information, and the vehicle U-turn function state is divided into multiple states. When the vehicle U-turn function state is in an activated state, the front axle motor target torque, the left rear motor target torque and the right rear motor target torque of the vehicle can be calculated based on the vehicle state information in the activated state, and the front axle motor target torque, the left rear motor target torque and the right rear motor target torque are applied to the front drive motor, the left rear drive motor and the right rear drive motor of the vehicle respectively, so as to apply negative torque to the inner rear wheel of the vehicle, and apply driving torque to the front wheel and the outer rear wheel, so as to control the vehicle to realize U-turn around the inner rear wheel and reduce the turning radius of the vehicle.

[0041] Therefore, according to the vehicle U-turn control method 200 of the embodiment of the present application, when determining that the U-turn function state of the vehicle is activated, the target torque of the front axle motor, the target torque of the left rear motor and the target torque of the right rear motor are obtained, so as to apply negative torque to the inner rear wheel of the vehicle and apply driving torque to the front wheel and the outer rear wheel, thereby achieving the purpose of reducing the turning radius of the vehicle, further reducing the vehicle safety risks caused by turning or U-turning in many places of the vehicle, and at the same time greatly avoiding the problem of vehicle tire wear.

[0042] In an embodiment of the present application, the status information of the vehicle is obtained, and the status of the vehicle's U-turn function is determined based on the status information. When the vehicle is driving, the vehicle can successfully complete the normal turn or lane change under normal conditions. However, when the vehicle turns around or turns in a narrow road space, a smaller turning radius is required to achieve the U-turn or steering, so as not to cause road traffic congestion and the like. Therefore, a U-turn control method is required to achieve this. For the vehicle U-turn control method, it is necessary to first determine whether the vehicle's U-turn function is turned on when the vehicle needs to perform a U-turn. After determining that the vehicle's U-turn function is turned on, it is also necessary to determine the vehicle's on-the-spot U-turn function status (i.e., the U-turn function status). The vehicle's on-the-spot U-turn function status is determined by the current vehicle's status information.

[0043] In an embodiment of the present application, the vehicle controller of the vehicle collects the state information of the vehicle, and the state information of the vehicle includes at least one of the following: steering wheel angle, braking depth, vehicle speed, gear information, vehicle slope and throttle depth. Specifically, turning the steering wheel angle is used to realize the steering of the vehicle's wheels. For example, when the steering wheel is turned to the left by a certain angle, the vehicle's wheels also turn to the left at this time, and when the steering wheel is turned to the right by a certain angle, the vehicle's wheels also turn to the right at this time; the braking depth refers to the depth to which the vehicle's brake pedal is stepped on; the gear information is the gear state of the vehicle. The gear of the vehicle generally has a parking gear (also known as the P gear), at which time the wheel is in a mechanically locked state to prevent slipping, a reverse gear (also known as the R gear) is used when the vehicle needs to reverse, a neutral gear (also known as the N gear), which is used when temporarily parking (such as a red light), and a forward gear (also known as the D gear) when the vehicle is moving forward; the vehicle slope refers to the slope information of the flat ground where the vehicle is at this time, and the throttle depth refers to the depth to which the vehicle's throttle pedal is stepped on by the driver. Of course, the vehicle status information may also include other appropriate status information, or may be several of the status information listed above, and no specific limitation is made to this.

[0044] In this embodiment, based on the status information, the vehicle U-turn function status is determined. Figure 3 To describe the status of the vehicle's U-turn function. Figure 3 As shown, the vehicle U-turn function state is divided into multiple function states, including: prohibited state, closed state, standby state and activated state. In one example, when the OK indicator light in the vehicle is OK; the motor start-up flag of the front motor control module, the left rear motor control module and the right rear motor control module is allowed, the drive motor transmission ratio fault state is no fault, the steering wheel angle valid flag is valid, the steering wheel angle calibration flag is calibrated, the vehicle speed signal state is no fault, the braking depth valid flag is valid, and the gear system state is normal, then the vehicle U-turn function is in the standby state at this time; when the steering wheel angle is greater than a certain angle threshold, the vehicle is on flat ground (the slope is less than a certain slope threshold), the braking depth condition is less than a certain threshold, the vehicle is stationary, and the gear is the forward gear, then the vehicle U-turn function state is in the activated state at this time; when the steering wheel angle condition is not met, the vehicle U-turn function state is in the closed state at this time.

[0045] In the embodiment of the present application, the condition for the vehicle U-turn function state to be in the activated state is one or more of the following: the steering wheel angle is within the steering wheel angle threshold range; the braking depth is within the braking depth threshold range; the vehicle speed is less than the vehicle speed threshold and maintains the first threshold time; the gear information is the forward gear; the vehicle slope is less than the slope threshold and maintains the second threshold time; the throttle depth is greater than the throttle intervention threshold. In one example, when the vehicle U-turn function state meets the conditions of the activated state, the steering wheel angle can be between 500° and 540°, and of course it can also be another suitable steering wheel angle range, which is not specifically limited. The judgment of the vehicle slope is to achieve a better U-turn. In one example, the vehicle slope threshold can be 3%, 2% or other suitable values, for example, when the vehicle slope can be a value near 0% (that is, the road where the vehicle is located at this time is similar to a flat road section). Secondly, the braking depth needs to be within a certain braking depth threshold range, because the vehicle needs to reduce the speed to turn around when turning around, so a certain braking depth needs to be met. When the vehicle selects the U-turn function, it is necessary to judge the vehicle speed to determine whether the vehicle is almost stationary at this time, so as to meet the conditions for the vehicle U-turn function to be activated. For example, the vehicle speed can be less than 0.5km / h and maintained for 200ms. When the throttle depth of the vehicle is greater than a certain throttle intervention threshold, for example, the throttle intervention threshold can be 5%, of course, it can also be other suitable thresholds, which are not specifically limited. At this time, there will be a certain speed, which is convenient for the vehicle to make a U-turn and meets the conditions for the vehicle U-turn function to be activated. The above-mentioned conditions for the vehicle U-turn function to be activated can also be other suitable conditions related to the vehicle U-turn, which are not specifically limited.

[0046] In the embodiment of the present application, the calculation of the front axle motor target torque, the left rear motor target torque and the right rear motor target torque of the vehicle in step S210 includes: determining the front wheel target speed, the left rear wheel target speed and the right rear wheel target speed of the vehicle according to the first preset relationship table; obtaining the front axle motor target speed, the left rear motor target speed and the right rear motor target speed according to the front wheel target speed, the left rear wheel target speed and the right rear wheel target speed, and converting the front axle motor target speed, the left rear motor target speed and the right rear motor target speed into the front axle motor target torque, the left rear motor target torque and the right rear motor target torque respectively. Specifically, when the vehicle U-turn function state is in the activated state at this time, firstly, the front wheel target speed, the left rear wheel target speed and the right rear wheel target speed of the current vehicle are determined by looking up the table according to the user terrain selection mode. Since the target wheel speed of the vehicle is different under different road conditions, it is necessary to determine the target wheel speed under the terrain selection mode based on the corresponding terrain selection mode selected by the user. The terrain selection mode may be an ice and snow mode, an off-road mode, a road mode, etc. Of course, it may also be other suitable terrain selection modes, which are not specifically limited.

[0047] In this embodiment, the front axle motor target speed, the left rear motor target speed and the right rear motor target speed are obtained according to the front wheel target speed, the left rear wheel target speed and the right rear wheel target speed obtained by table lookup; finally, the front axle motor target speed, the left rear motor target speed and the right rear motor target speed are respectively converted into corresponding target torques for applying negative torque to the inner rear wheel when the vehicle turns around, and applying driving torque to the outer rear wheel when the front wheel and the vehicle turn around, so as to control the vehicle to turn around. Usually there is a certain correlation between the vehicle motor speed and the wheel speed. Specifically, when the motor speed increases, the wheel speed will also increase accordingly, and when the motor speed decreases, the wheel speed will also decrease accordingly. The rear wheel of the vehicle of the present application is to independently control the left rear wheel and the right rear wheel of the vehicle through dual motors (i.e., the left rear drive motor and the right rear drive motor), so the front axle motor target speed, the left rear motor target speed and the right rear motor target speed can be obtained according to the front wheel target speed, the left rear wheel target speed and the right rear wheel target speed obtained by table lookup. There is also a certain correlation between the motor speed and the motor torque. Therefore, the corresponding target torque can be obtained according to the target speed of the front axle motor, the target speed of the left rear motor and the target speed of the right rear motor. The negative torque is applied to the inner rear wheel when the vehicle is turning through the corresponding target torque, so that the inner rear wheel is controlled to stop, but the inner rear wheel is not stuck, and the inner rear wheel can be in a follow-up non-locking state; at the same time, the driving torque is applied to the front wheel and the outer rear wheel of the vehicle through the corresponding torque, so that it drives forward, so that the vehicle can rotate around the inner rear wheel, which is used to control the vehicle to turn around, thereby reducing the turning diameter of the car.

[0048] In an embodiment of the present application, the front axle motor target speed, the left rear motor target speed and the right rear motor target speed are obtained according to the front wheel target speed, the left rear wheel target speed and the right rear wheel target speed, including: obtaining the wheel rolling radius, the front axle motor transmission ratio, the left rear motor transmission ratio and the right rear motor transmission ratio of the vehicle; obtaining the front axle motor target speed based on the front wheel target speed, the wheel rolling radius and the front axle motor transmission ratio, obtaining the left rear motor target speed based on the left rear wheel target speed, the wheel rolling radius and the left rear motor transmission ratio, and obtaining the right rear motor target speed based on the right rear wheel target speed, the wheel rolling radius and the right rear motor transmission ratio. Specifically, there is a certain relationship between the corresponding motor target speed and the corresponding wheel target speed, and the relationship is that the corresponding motor target speed can be obtained through the vehicle's wheel rolling radius, the corresponding motor transmission ratio and the corresponding wheel target speed. Among them, the wheel rolling radius is the distance from the wheel to the ground contact point to the axis when the vehicle is stationary; the motor transmission ratio refers to the ratio between the motor output shaft speed and the transmission device output shaft speed, which is directly related to the performance of the machine; the wheel rolling radius and the motor transmission ratio can be directly obtained. Therefore, the target speed of the front axle motor can be obtained according to the wheel rolling radius, the front axle motor transmission ratio and the front wheel target wheel speed; the target speed of the left rear motor can be obtained according to the wheel rolling radius, the left rear motor transmission ratio and the left rear wheel target wheel speed; the target speed of the right rear motor can be obtained according to the wheel rolling radius, the right rear motor transmission ratio and the right rear wheel target wheel speed.

[0049] In an embodiment of the present application, the target torque of the front axle motor, the target torque of the left rear motor, and the target torque of the right rear motor of the vehicle are calculated to apply a negative torque to the inner rear wheel when the vehicle turns around, and to apply a driving torque to the front wheel and the outer rear wheel when the vehicle turns around, including: when the vehicle turns around in a left turn, the target speed of the left rear motor is converted into a first target torque of the left rear motor for applying a negative torque to the left rear wheel, the target speed of the front axle motor is converted into a first target torque of the front axle motor for applying a driving torque to the front wheel, and the target speed of the right rear motor is converted into a first target torque of the right rear motor for applying a driving torque to the right rear wheel. When the vehicle turns around in a right turn, the target speed of the right rear motor is converted into a second target torque of the right rear motor for applying a negative torque to the right rear wheel, the target speed of the front axle motor is converted into a second target torque of the front axle motor for applying a driving torque to the front wheel, and the target speed of the left rear motor is converted into a second target torque of the left rear motor for applying a driving torque to the left rear wheel. Specifically, since there is a certain connection between the motor target speed and the motor target torque, the corresponding motor speed obtained in the previous article can be converted into the corresponding motor torque to achieve control of the wheels when the vehicle turns around, which can better reduce the turning radius of the vehicle when turning around, and reduce the vehicle safety risks caused by turning or turning around in places with many vehicles.

[0050] In this embodiment, if Figure 4As shown, the rear wheels of the vehicle are independently controlled by dual drive motors (i.e., the left rear drive motor controls the left rear wheel, and the right rear drive motor controls the right rear wheel), and the front wheels are controlled by a front drive motor. By applying negative torque to the inner rear wheel, and applying drive torque to the front wheel and the outer rear wheel, the vehicle can turn around the inner rear wheel. In one example, the following reference Figure 5 To describe the situation when a vehicle makes a U-turn. Figure 5 As shown, when the vehicle is turning to the left, the left rear wheel of the vehicle is the inner rear wheel. The target speed of the left rear motor is converted into the target torque of the left rear motor (i.e. the first target torque of the left rear motor), and a negative torque is applied to the left rear wheel (i.e. the inner rear wheel) of the vehicle through the first target torque of the left rear motor to lock the left rear wheel, but the left rear wheel can follow without locking; at the same time, the target speed of the front axle motor is converted into the target torque of the front axle motor (i.e. the first front axle target torque) to apply a driving torque to the front wheels of the vehicle; and at the same time, the target speed of the right rear motor is converted into the target torque of the right rear motor (i.e. the first target torque of the right rear motor) to apply a driving torque to the right rear wheel (i.e. the outer rear wheel) of the vehicle, so that the vehicle can turn around its left rear wheel.

[0051] In this embodiment, when the vehicle turns to the right, the right rear wheel of the vehicle is the inner rear wheel. The right rear motor target speed is converted into the right rear motor target torque (i.e., the second right rear motor target torque), and a negative torque is applied to the right rear wheel (i.e., the inner rear wheel) of the vehicle through the right rear motor target torque to lock the right rear wheel, but the right rear wheel can follow without locking. At the same time, the front axle motor target speed is converted into the front axle motor target torque (i.e., the second front axle target torque) to apply a driving torque to the front wheels of the vehicle. At the same time, the left rear motor target speed is converted into the left rear motor target torque (i.e., the second left rear motor target torque) to apply a driving torque to the left rear wheel (i.e., the outer rear wheel) of the vehicle. The vehicle can thereby turn around its right rear wheel.

[0052] In an embodiment of the present application, when the vehicle is turning left, after controlling the vehicle to make a U-turn, the method also includes: when the activation state is function exit, limiting and smoothing the front wheel target speed, the left rear wheel target speed and the right rear wheel target speed to reach a preset wheel speed, limiting and smoothing the first front axle motor target torque, the first left rear motor target torque and the first right rear motor target torque; based on the processed first front axle motor target torque, the processed first left rear motor target torque and the processed first right rear motor target torque, the third motor front axle motor target torque, the third left rear motor target torque and the third right rear motor target torque are calculated to control the vehicle to stop making a U-turn. When the vehicle is turning right, the front wheel target speed, the left rear wheel target speed and the right rear wheel target speed are limited and smoothed, and the second front axle motor target torque, the second left rear motor target torque and the second right rear motor target torque are limited and smoothed; the fourth front axle motor target torque, the fourth left rear motor target torque and the fourth right rear motor target torque are calculated based on the processed second front axle motor target torque, the processed second left rear motor target torque and the processed second right rear motor target torque to control the vehicle to stop turning. In order to achieve smoothness of the whole vehicle, when the vehicle is about to complete the U-turn and is about to exit, the activation state is switched to the function exiting state, and the corresponding target wheel speed and corresponding target torque during the vehicle turning process are limited and smoothed so that the vehicle turns and stops smoothly without abruptness.

[0053] In this embodiment, the corresponding target wheel speed and the corresponding target torque in the vehicle U-turn are first limited, that is, when the vehicle is turning left, the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed are limited, and the first front axle motor target torque, the first left rear motor target torque and the first right rear motor target torque are limited. When the vehicle is turning right, the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed are limited, and the second front axle motor target torque, the second left rear motor target torque and the second right rear motor target torque are limited. The corresponding target wheel speed is controlled within a certain wheel speed threshold range, for example, the upper limit of the target wheel speed is 15kph, and the lower limit of the target wheel speed is -15kph. The wheel speed threshold range can also be other suitable values, which are not specifically limited. And the corresponding target torque is controlled within a certain torque threshold range, for example, the target torque upper limit is 2500Nm, the target wheel speed lower limit is -2500Nm, and the torque threshold range may also be other appropriate values, which are not specifically limited.

[0054] In this embodiment, the corresponding target wheel speed and the corresponding target torque after limiting are loaded and unloaded to obtain the processed target wheel speed and the processed target torque (that is, when turning left, the first front axle motor target torque, the first left rear motor target torque and the first right rear motor target torque are processed; when turning right, the second front axle motor target torque, the second left rear motor target torque and the second right rear motor target torque are processed). In the function exit stage, it is necessary to switch the speed control to torque control, and only perform pure torque control. At this time, the target wheel speed of the vehicle is zero, thereby realizing no speed control. Therefore, whether the vehicle turns left or right, the processed front wheel target speed, the left rear target wheel speed and the right rear target wheel speed must reach the target wheel speed (that is, zero) in the function exit. After processing, the first front axle motor target torque and the front axle motor transmission ratio are used to calculate the third front axle motor target torque; after processing, the first left rear motor target torque and the left rear motor transmission ratio are used to calculate the third left rear motor target torque; after processing, the first right rear motor target torque and the right rear motor transmission ratio are used to calculate the third right rear motor target torque, so as to meet the target torque required in function exit, thereby achieving smooth left turn of the vehicle.

[0055] In this embodiment, when the vehicle turns right, the fourth front axle motor target torque is calculated by processing the second front axle motor target torque and the front axle motor transmission ratio, the fourth left rear motor target torque is calculated by processing the second left rear motor target torque and the left rear motor transmission ratio, and the fourth right rear motor target torque is calculated by processing the second right rear motor target torque and the right rear motor transmission ratio to meet the target torque required in function exit, thereby achieving smooth right turn of the vehicle.

[0056] In an embodiment of the present application, the turning radius of the vehicle can also be calculated, and the turning trajectory of the vehicle can be displayed through the media interaction host. In order to provide users with a better experience when the vehicle is turning around, and also remind users to pay attention to the surrounding environment and avoid collision with objects, the turning trajectory of the vehicle can be displayed on the media interaction host.

[0057] In an embodiment of the present application, calculating the turning radius of the vehicle includes: determining the turning radius according to a second preset relationship table. Specifically, the turning radius of the vehicle is obtained by looking up a table based on the road adhesion coefficient.

[0058] Therefore, according to the vehicle U-turn control method of the embodiment of the present application, by determining that the vehicle U-turn function state is in an activated state, the front axle motor target torque, the left rear motor target torque and the right rear motor target torque are obtained to apply a negative torque to the inner rear wheel of the vehicle, and apply a driving torque to the front wheel and the outer rear wheel, thereby achieving the purpose of reducing the turning radius of the vehicle, further reducing the vehicle safety risks caused by turning or U-turning in many places of the vehicle, and at the same time greatly avoiding the problem of vehicle tire wear.

[0059] Combine the following Figure 6 A vehicle U-turn control device provided according to another aspect of the present application is described. Figure 6 FIG. 6 shows a schematic structural block diagram of a vehicle U-turn control device 600 according to an embodiment of the present application. Figure 6 As shown, the vehicle U-turn control device 600 includes a memory 610 and a processor 620, wherein: the memory 610 stores a computer executable program run by the processor 620, and when the computer executable program is run by the processor 620, the processor 620 executes the vehicle U-turn control method 200 described above. Those skilled in the art can understand the structure and specific operation of each module in the vehicle U-turn control device 600 according to the embodiment of the present application in combination with the above-mentioned content, and for the sake of brevity, it is not repeated here. Therefore, the vehicle U-turn device according to the embodiment of the present application determines that the vehicle U-turn function state is in an activated state, and obtains the front axle motor target torque, the left rear motor target torque and the right rear motor target torque, so as to apply a negative torque to the inner rear wheel of the vehicle, and apply a driving torque to the front wheel and the outer rear wheel, so as to achieve the purpose of reducing the turning radius of the vehicle, and further reduce the vehicle safety risk caused by turning or turning in many places of the vehicle, and at the same time greatly avoid the problem of vehicle tire wear.

[0060] In addition, according to an embodiment of the present application, a vehicle is also provided, which may include the vehicle U-turn control device 600 described above.

[0061] In addition, the present application also provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the processor executes the vehicle U-turn control method 200 according to the embodiment of the present application described above. The storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk read-only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

[0062] In addition, the present application also provides a computer program, on which a computer program to be executed by a processor is stored. When the computer program is executed by the processor, the processor executes the vehicle U-turn control method 200 described above.

[0063] Based on the above description, the vehicle U-turn control method, device and vehicle of the embodiment of the present application obtain the target torque of the front axle motor, the target torque of the left rear motor and the target torque of the right rear motor when determining that the U-turn function state of the vehicle is activated, so as to apply negative torque to the inner rear wheel of the vehicle and apply driving torque to the front wheel and the outer rear wheel, thereby achieving the purpose of reducing the turning radius of the vehicle, further reducing the vehicle safety risks caused by turning or U-turning in many places of the vehicle, and at the same time avoiding the problem of vehicle tire wear to a great extent.

[0064] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application to this. Those of ordinary skill in the art may make various changes and modifications therein without departing from the scope and spirit of the present application. All these changes and modifications are intended to be included within the scope of the present application as required by the appended claims.

[0065] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0066] In the several embodiments provided in this 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 the 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.

[0067] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0068] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present application should not be interpreted as reflecting the following intention: the claimed application requires more features than the features clearly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with features less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present application.

[0069] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0070] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0071] The various component embodiments of the present application can be implemented in hardware, or implemented in software modules running on one or more processors, or implemented in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all functions of some modules according to the embodiments of the present application. The application can also be implemented as a part or all of a program (e.g., a computer program and a computer program product) for performing the method described herein. Such a program implementing the present application can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0072] It should be noted that the above embodiments illustrate the present application rather than limit the present application, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets should not be constructed as a limitation to the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" before an element does not exclude the presence of multiple such elements. The present application can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. The use of the words first, second, and third, etc. does not indicate any order. These words can be interpreted as names.

[0073] The above is only a specific implementation or description of a specific implementation of the present application, and 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. The protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A vehicle U-turn control method, characterized in that: The method comprises: When it is determined that the vehicle's U-turn function state is activated, the vehicle's front axle motor target torque, left rear motor target torque and right rear motor target torque are calculated to apply a negative torque to the inner rear wheel when the vehicle turns, and to apply a driving torque to the front wheel and the outer rear wheel when the vehicle turns, thereby controlling the vehicle to make a U-turn.

2. The method according to claim 1, characterized in that The calculating of the front axle motor target torque, the left rear motor target torque and the right rear motor target torque of the vehicle includes: Determine the front wheel target speed, the left rear wheel target speed, and the right rear wheel target speed of the vehicle according to a first preset relationship table; The front axle motor target speed, the left rear motor target speed and the right rear motor target speed are obtained according to the front wheel target wheel speed, the left rear wheel target wheel speed and the right rear wheel target wheel speed, and the front axle motor target speed, the left rear motor target speed and the right rear motor target speed are converted into the front axle motor target torque, the left rear motor target torque and the right rear motor target torque respectively.

3. The method according to claim 2, characterized in that The method of obtaining a front axle motor target speed, a left rear motor target speed, and a right rear motor target speed according to the front wheel target speed, the left rear wheel target speed, and the right rear wheel target speed includes: Obtaining a wheel rolling radius, a front axle motor transmission ratio, a left rear motor transmission ratio, and a right rear motor transmission ratio of the vehicle; The front axle motor target speed is obtained based on the front wheel target speed, the wheel rolling radius and the front axle motor transmission ratio; the left rear motor target speed is obtained based on the left rear wheel target speed, the wheel rolling radius and the left rear motor transmission ratio; the right rear motor target speed is obtained based on the right rear wheel target speed, the wheel rolling radius and the right rear motor transmission ratio.

4. The method according to claim 3, characterized in that The calculating of the target torque of the front axle motor, the target torque of the left rear motor and the target torque of the right rear motor of the vehicle to apply a negative torque to the inner rear wheel when the vehicle turns around, and applying a driving torque to the front wheel and the outer rear wheel when the vehicle turns around, comprises: When the vehicle turns left, the left rear motor target speed is converted into a first left rear motor target torque for applying a negative torque to the left rear wheel, the front axle motor target speed is converted into a first front axle motor target torque for applying a driving torque to the front wheel, and the right rear motor target speed is converted into the first right rear motor target torque for applying a driving torque to the right rear wheel.

5. The method according to claim 3, characterized in that: The calculating of the target torque of the front axle motor, the target torque of the left rear motor and the target torque of the right rear motor of the vehicle to apply a negative torque to the inner rear wheel when the vehicle turns around, and applying a driving torque to the front wheel and the outer rear wheel when the vehicle turns around, comprises: When the vehicle turns right, the right rear motor target speed is converted into a second right rear motor target torque for applying a negative torque to the right rear wheel, the front axle motor target speed is converted into the second front axle motor target torque for applying a driving torque to the front wheel, and the left rear motor target speed is converted into the second left rear motor target torque for applying a driving torque to the left rear wheel.

6. The method according to claim 4, characterized in that After controlling the vehicle to make a U-turn, the method further includes: When the activation state is in function exit, the front wheel target speed, the left rear wheel target speed and the right rear wheel target speed are limited and smoothed to reach a preset wheel speed, and the first front axle motor target torque, the first left rear motor target torque and the first right rear motor target torque are limited and smoothed; A third front axle motor target torque, a third left rear motor target torque and a third right rear motor target torque are calculated based on the processed first front axle motor target torque, the processed first left rear motor target torque and the processed first right rear motor target torque to control the vehicle to stop turning.

7. The method according to claim 6, characterized in that: The method of calculating the third front axle motor target torque, the third left rear motor target torque and the third right rear motor target torque based on the processed first front axle motor target torque, the processed first left rear motor target torque and the processed first right rear motor target torque includes: Obtaining a third front axle motor target torque based on the processed first front axle motor target torque and the front axle motor transmission ratio; Obtaining a third left rear motor target torque based on the processed first left rear motor target torque and the left rear motor transmission ratio; A third right rear motor target torque is obtained based on the processed first right rear motor target torque and the right rear motor gear ratio.

8. The method according to claim 5, characterized in that After controlling the vehicle to make a U-turn, the method further includes: When the activation state is in function exit, the front wheel target speed, the left rear wheel target speed and the right rear wheel target speed are limited and smoothed to reach a preset wheel speed, and the second front axle motor target torque, the second left rear motor target torque and the second right rear motor target torque are limited and smoothed; A fourth front axle motor target torque, a fourth left rear motor target torque and a fourth right rear motor target torque are calculated based on the processed second front axle motor target torque, the processed second left rear motor target torque and the processed second right rear motor target torque to control the vehicle to stop turning.

9. The method according to claim 8, characterized in that: The fourth front axle motor target torque, the fourth left rear motor target torque and the fourth right rear motor target torque are calculated based on the processed second front axle motor target torque, the processed second left rear motor target torque and the processed second right rear motor target torque, including: Obtaining a fourth front axle motor target torque based on the processed second front axle motor target torque and the front axle motor transmission ratio; Obtaining a fourth left rear motor target torque based on the processed second left rear motor target torque and the left rear motor transmission ratio; A fourth right rear motor target torque is obtained based on the processed second right rear motor target torque and the right rear motor gear ratio.

10. The method according to claim 1, characterized in that The method also includes: calculating a turning radius of the vehicle, and displaying a turning trajectory of the vehicle through a media interaction host.

11. The method according to claim 10, characterized in that The calculating the turning radius of the vehicle includes: determining the turning radius according to a second preset relationship table.

12. The method according to claim 1, characterized in that The determining of the vehicle U-turn function state includes: Get vehicle status information; Based on the status information, the vehicle U-turn function status is determined.

13. The method according to claim 1, characterized in that The state information includes at least one of the following: steering wheel angle, braking depth, vehicle speed, gear information, vehicle slope and throttle depth.

14. The method according to claim 13, characterized in that The condition that the vehicle U-turn function state is in an activated state is at least one of the following: The steering wheel angle is within a steering wheel angle threshold range; The braking depth is within a braking depth threshold range; The vehicle speed is less than a vehicle speed threshold and is maintained for a first threshold time; The gear information is a forward gear; The vehicle slope is less than a slope threshold and maintained for a second threshold time; The throttle depth is greater than a throttle intervention threshold.

15. A vehicle U-turn control device, characterized in that: The device includes a memory and a processor, wherein the memory stores a computer executable program executed by the processor, and when the computer executable program is executed by the processor, the processor executes the vehicle U-turn control method as described in any one of claims 1 to 14.

16. A vehicle, characterized in that: The vehicle includes the vehicle U-turn control device according to claim 15 .

17. A storage medium, characterized in that: The storage medium stores a computer program executed by a processor, and when the computer program is executed by the processor, the processor executes the vehicle U-turn control method according to any one of claims 1 to 14.

18. A computer program, characterized in that When the computer program is executed by a processor, the processor is enabled to execute the vehicle U-turn control method according to any one of claims 1 to 14.

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