Vehicle pivot steering control method, vehicle controller and vehicle

Abstract

The invention discloses a vehicle pivot steering control method, a vehicle controller and a vehicle, and is applied to the field of vehicles. According to the method, the vehicle controller responds to the pivot steering instruction and controls the vehicle to conduct pivot steering with the target wheel as the fulcrum, so that pivot steering of the vehicle can be controlled, and even if traffic jam occurs, vehicle jam can be avoided through pivot steering. Wherein the target wheel is any wheel in the multiple wheels. Furthermore, due to the fact that any one of the multiple wheels can be determined as the fulcrum in the pivot steering process, the pivot steering flexibility of the vehicle is effectively improved, and the pivot steering of the vehicle is more convenient and controllable.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a vehicle on-site steering control method, a vehicle controller and a vehicle. Background Art

[0002] During the driving process, traffic jams often occur when the road conditions are poor. If the vehicle cannot achieve an approximate on-the-spot turn, it can only wait for the traffic jam to ease before continuing to drive. Summary of the invention

[0003] The present invention provides a vehicle on-site steering control method, a vehicle controller and a vehicle, which can solve the problem in the related art that the vehicle cannot achieve approximate on-site steering. The technical solution is as follows: In one aspect, a method for controlling vehicle in-situ steering is provided, the method comprising: In response to the on-site steering instruction, controlling the vehicle to perform on-site steering with the target wheel as a fulcrum; The target wheel is any wheel among the multiple wheels.

[0004] Optionally, before controlling the vehicle to perform in-situ turning with the target wheel as a fulcrum, the method further includes: In response to a selection instruction for a target wheel among the plurality of wheels, the target wheel is locked.

[0005] Optionally, controlling the vehicle to perform in-situ steering with the target wheel as a fulcrum includes: When the vehicle meets the conditions for turning on the spot, the vehicle is controlled to turn on the spot with the target wheel as the fulcrum.

[0006] Optionally, before controlling the vehicle to meet the on-the-spot turning condition, the vehicle is in a stationary state.

[0007] Optional, on-the-spot turning conditions, including: The vehicle's gear position is D gear or R gear, the steering wheel angle is greater than or equal to an angle threshold, the vehicle speed is within a vehicle speed range, and the depth of the vehicle's accelerator pedal is greater than or equal to a first preset depth.

[0008] Optionally, the target wheel is a target front wheel among the first front wheel and the second front wheel; and controlling the vehicle to perform in-situ turning with the target wheel as a fulcrum includes: Control the first rear wheel and the second rear wheel to deflect in opposite directions respectively; Using the target wheel as a fulcrum, driving the wheels other than the target wheel among the multiple wheels to turn in place; The deflection direction of the first rear wheel is the same as the steering direction of the steering wheel, and the first rear wheel and the target wheel are located on the same side of the vehicle.

[0009] Optionally, in the process of driving the wheels other than the target wheel among the multiple wheels to turn in situ, the rotation direction of the reference front wheel is the same as the rotation direction of the second rear wheel, and the rotation direction of the second rear wheel is opposite to the rotation direction of the first rear wheel; The reference front wheel is a wheel other than the target front wheel among the first front wheel and the second front wheel.

[0010] Optionally, the deflection angles of the first rear wheel and the second rear wheel are the maximum deflection angles of the rear wheels.

[0011] Optionally, the target wheel is a target rear wheel among the first rear wheel and the second rear wheel; and controlling the vehicle to perform in-situ turning with the target wheel as a fulcrum includes: Controlling a reference rear wheel to deflect in a direction opposite to the direction of the steering wheel, the reference rear wheel being a wheel other than the target rear wheel among the first rear wheel and the second rear wheel; With the target wheel as a fulcrum, the wheels other than the target wheel among the multiple wheels are driven to turn in situ.

[0012] Optionally, in the process of driving the wheels except the target wheel among the multiple wheels to turn on the spot, the rotation direction of the two front wheels and the rotation direction of the reference rear wheel are the same.

[0013] Optionally, the deflection angle of the reference rear wheel is the maximum deflection angle of the rear wheel.

[0014] Optionally, the method further includes: When it is determined that the vehicle meets the conditions for suspending on-the-spot turning, the vehicle is controlled to suspend on-the-spot turning.

[0015] Optionally, the conditions for pausing the turning in place include one or more of the following: The steering wheel angle is less than the angle threshold and the depth of the vehicle's brake pedal is greater than or equal to a second preset depth.

[0016] Optionally, the method further includes: When it is determined that the vehicle meets the conditions for exiting the stationary turn, the vehicle is controlled to exit the stationary turn.

[0017] Optionally, the conditions for exiting the on-site turn include one or more of the following: The vehicle speed is outside the vehicle speed range, the vehicle's gear is in a gear other than D or R, the device that controls the vehicle's on-the-spot steering is faulty, or a steering exit command is received.

[0018] On the other hand, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned vehicle on-the-spot steering control method is implemented.

[0019] On the other hand, a vehicle controller is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the above-mentioned vehicle on-the-spot steering control method is implemented.

[0020] On the other hand, a vehicle is provided, comprising the above-mentioned vehicle controller.

[0021] In summary, the embodiments of the present invention provide a vehicle on-site steering control method, a vehicle controller and a vehicle, wherein the vehicle controller responds to an on-site steering instruction and controls the vehicle to perform on-site steering with a target wheel as a fulcrum, thereby controlling the vehicle to perform on-site steering, and even if a traffic jam occurs, vehicle congestion can be avoided by on-site steering. The target wheel is any wheel among multiple wheels.

[0022] Furthermore, since the embodiment of the present invention can determine any one of the multiple wheels as a fulcrum during the on-the-spot turning process, the flexibility of the vehicle's on-the-spot turning is effectively improved, making the vehicle's on-the-spot turning more convenient and controllable.

[0023] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a flow chart of a vehicle in-situ steering control method provided by an embodiment of the present invention; Figure 2 is a flow chart of another vehicle in-situ steering control method provided by an embodiment of the present invention; Figure 3 is a schematic diagram of a vehicle turning on the spot provided by an embodiment of the present invention; Figure 4 is a schematic diagram of another vehicle turning on the spot provided by an embodiment of the present invention; Figure 5 is a schematic diagram of another vehicle turning on the spot provided by an embodiment of the present invention; Figure 6 is a schematic diagram of another vehicle turning on the spot provided by an embodiment of the present invention; Figure 7 is a schematic diagram of another vehicle turning on the spot provided by an embodiment of the present invention; Figure 8 is a schematic diagram of another vehicle turning on the spot provided by an embodiment of the present invention; Fig. 9 is a schematic diagram of another vehicle turning on the spot provided by an embodiment of the present invention; Fig.10is a schematic diagram of another vehicle turning on the spot provided by an embodiment of the present invention; Fig.11 is a schematic diagram of a vehicle turning radius provided by an embodiment of the present invention; Fig.12 is a schematic diagram of a vehicle passing through a right-angle curve provided by an embodiment of the present invention; Fig.13 is a schematic diagram of a vehicle parking in a parking space provided by an embodiment of the present invention; Fig.14 is a structural schematic diagram of a vehicle controller provided by an embodiment of the present invention; Fig.15 The invention is a block diagram of a vehicle on-site steering control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0025] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0026] Figure 1 is a flow chart of a vehicle in-situ steering control method provided by an embodiment of the present invention. The method can be applied to a vehicle controller in a vehicle, and optionally, the vehicle controller can be an electronic control unit (ECU). Figure 1 As shown, the method includes: Step 101: In response to an on-the-spot steering instruction, control the vehicle to perform on-the-spot steering with the target wheel as a fulcrum.

[0027] The vehicle controller can control the vehicle to perform a pivot turn with the target wheel as a fulcrum in response to the pivot turn instruction, wherein the target wheel is any wheel among the multiple wheels.

[0028] In summary, the embodiment of the present invention provides a method for controlling vehicle on-the-spot steering, in which a vehicle controller controls a vehicle to perform on-the-spot steering with a target wheel as a fulcrum in response to an on-the-spot steering instruction, thereby controlling the vehicle to perform on-the-spot steering, and when a traffic jam occurs, vehicle congestion can be avoided by on-the-spot steering. The target wheel is any wheel among multiple wheels.

[0029] Furthermore, since the embodiment of the present invention can determine any one of the multiple wheels as a fulcrum during the on-the-spot turning process, the flexibility of the vehicle's on-the-spot turning is effectively improved, making the vehicle's on-the-spot turning more convenient and controllable.

[0030] Figure 2 FIG. 1 is a flow chart of another vehicle in-situ steering control method provided by an embodiment of the present invention. The method can be applied to a vehicle controller in a vehicle. Optionally, the vehicle controller can be an ECU. Figure 2 As shown, the method may include: Step 201: In response to a turn-in-place instruction, detect whether the vehicle passes a self-check.

[0031] The vehicle controller may detect whether the vehicle passes the self-test in response to the on-the-spot steering instruction. If the vehicle passes the self-test, the vehicle controller may determine that the device controlling the vehicle to perform on-the-spot steering is operating normally, and thus may execute step 202. If the vehicle fails the self-test, the vehicle controller may determine that the device controlling the vehicle to perform on-the-spot steering is operating faulty, and thus may execute step 207.

[0032] Optionally, the self-test is to test the device that controls the vehicle to turn on the spot, so as to ensure that the device can operate normally during the turning on the spot process, thereby ensuring that the vehicle can normally complete the turning on the spot function.

[0033] The device may include but is not limited to a vehicle communication module, an intelligent powerbrake (IPB) system, a vehicle control unit (VCU), and a rear wheelsteering (RWS) system. The IPB system may be used to lock the wheels, the RWS may be used to control the rear wheel deflection, and the VCU may be used to determine the torque for wheel steering.

[0034] In an embodiment of the present invention, the central control of the vehicle may be provided with an on-the-spot turn button, and the vehicle controller may generate an on-the-spot turn instruction in response to a selection operation on the on-the-spot turn button.

[0035] Optionally, if the vehicle fails the self-test, the vehicle controller can determine that the device controlling the vehicle to turn on the spot is operating faulty, so that the vehicle can be controlled to exit the turn on the spot. And the vehicle controller can control the vehicle's central control to display a fault prompt message. For example, if the vehicle's communication module fails the self-test, the fault prompt message displayed in the vehicle's central control can be "Vehicle communication failure, unable to turn on the spot".

[0036] Step 202: In response to a selection instruction for a target wheel from a plurality of wheels, select a target wheel from the plurality of wheels.

[0037] After the vehicle passes the self-check, the vehicle controller may select a target wheel from the plurality of wheels in response to a selection instruction for the target wheel from the plurality of wheels.

[0038] The central control of the vehicle may display multiple wheels, and the driver may select any wheel from the multiple wheels as the target wheel. The multiple wheels may include a first front wheel, a second front wheel, a first rear wheel, and a second rear wheel. Optionally, the first front wheel may be the left front wheel or the right front wheel of the vehicle, the second front wheel may be the right front wheel (or the left front wheel) of the vehicle, the first rear wheel may be the left rear wheel (or the right rear wheel) of the vehicle, and the second rear wheel may be the right rear wheel (or the left rear wheel) of the vehicle.

[0039] The selection instruction for the target wheel among the multiple wheels may be generated by a selection operation of the driver for the target wheel, and the selection operation may be a touch operation, a key operation or a voice operation.

[0040] Step 203: Determine whether the vehicle meets the on-the-spot turning condition.

[0041] After selecting the target wheel, the vehicle controller can determine whether the vehicle meets the in-situ turning condition. If the vehicle meets the in-situ turning condition, step 204 can be executed. If the vehicle does not meet the in-situ turning condition, step 207 can be executed.

[0042] Among them, the on-the-spot turning conditions may include the vehicle's gear being D gear (i.e. forward gear) or R gear (i.e. reverse gear), the steering wheel angle being greater than or equal to an angle threshold, the vehicle speed being within the vehicle speed range, and the depth of the vehicle's accelerator pedal being greater than or equal to a first preset depth.

[0043] Optionally, the vehicle controller may pre-store an angle threshold, a vehicle speed range, and a first preset depth. A speed sensor may be provided on the vehicle surface, an angle sensor may be provided on the steering wheel, and a first displacement sensor may be provided on the accelerator pedal. The vehicle controller may obtain the vehicle speed through the speed sensor, obtain the steering wheel angle through the angle sensor, and obtain the depth of the accelerator pedal through the first displacement sensor.

[0044] After selecting the target wheel, the vehicle controller can shift the vehicle gear to D or R, step on the accelerator pedal and turn the steering wheel so that the vehicle gear is D or R, the steering wheel angle is greater than or equal to an angle threshold, and the depth of the vehicle's accelerator pedal is greater than or equal to a first preset depth, thereby controlling the vehicle to meet the in-place turning conditions.

[0045] Furthermore, before the vehicle is controlled to meet the in-situ turning condition, the vehicle is stationary and the vehicle speed is 0. This ensures that the vehicle is stationary and the vehicle speed is 0 during the process of the driver selecting the target wheel from the plurality of wheels.

[0046] Step 204: Lock the target wheel.

[0047] The vehicle controller may lock the target wheel after determining that the vehicle meets the in-situ turning condition. Optionally, the vehicle controller may lock the target wheel through the IPB system.

[0048] Step 205: Control the vehicle to perform in-situ turning with the target wheel as a fulcrum.

[0049] After locking the target wheel, the vehicle controller can control the vehicle to turn on the spot with the target wheel as the fulcrum.

[0050] Optionally, if the target wheel is the target front wheel among the first front wheel and the second front wheel, the vehicle controller can respectively control the first rear wheel and the second rear wheel to deflect in opposite directions, and use the target wheel as a fulcrum to drive the wheels among the multiple wheels except the target wheel to turn on the spot.

[0051] The deflection direction of the first rear wheel is the same as the steering direction of the steering wheel, and the first rear wheel and the target wheel are located on the same side of the vehicle. For example, if the target wheel is the left front wheel, the first rear wheel is the left rear wheel.

[0052] The deflection angles of the first rear wheel and the second rear wheel may be maximum deflection angles of the rear wheels. The vehicle controller may pre-store the maximum deflection angles of the rear wheels. For example, the maximum deflection angles of the rear wheels may be 10 degrees.

[0053] In the process of driving the wheels except the target wheel among the plurality of wheels to turn in situ, the rotation direction of the reference front wheel is the same as the rotation direction of the second rear wheel, and the rotation direction of the second rear wheel is opposite to the rotation direction of the first rear wheel.

[0054] The reference front wheel is the wheel other than the target front wheel among the first front wheel and the second front wheel. For example, if the target wheel is the left front wheel, the reference front wheel is the right front wheel. The rotation direction of the wheel includes forward rotation or reverse rotation.

[0055] It can be understood that when the driver turns the steering wheel so that the steering wheel angle is greater than the angle threshold, the first front wheel and the second front wheel are both deflected under the action of the steering wheel, and the deflection direction of the first front wheel and the second front wheel is the same as the steering direction of the steering wheel.

[0056] In an embodiment of the present invention, a vehicle may include a front-wheel motor, a first rear-wheel motor, and a second rear-wheel motor. The front-wheel motor is used to drive the first front wheel and the second front wheel to rotate. The first rear-wheel motor is used to drive the first rear wheel to rotate, and the second rear-wheel motor is used to drive the second rear wheel to rotate. The front-wheel motor may be one motor or two motors, which is not specifically limited in the embodiment of the present invention. If the front-wheel motor is two motors, the front-wheel motor may include a first front-wheel motor and a second front-wheel motor, the first front-wheel motor is used to drive the first front wheel to rotate, and the second front-wheel motor is used to drive the second front wheel to rotate. If the front-wheel motor is one motor, the first front wheel and the second front wheel may share one front-wheel motor, that is, the one front-wheel motor is used to drive the two front wheels to rotate. The following is an example in which a vehicle includes one front-wheel motor, a first rear-wheel motor, and a second rear-wheel motor.

[0057] For each wheel except the target wheel, during the process of turning the vehicle in place, the vehicle controller obtains the depth of the accelerator pedal through the first displacement sensor, and can send the depth of the accelerator pedal to the VCU. After receiving the depth of the accelerator pedal, the VCU can determine the torque of the motor corresponding to each wheel from the corresponding relationship between the depth of the accelerator pedal and the torque, and send the torque of the motor corresponding to each wheel to the vehicle controller. In this way, the vehicle controller drives the motor to rotate based on the torque of each motor, and then the motor drives the corresponding wheel, wherein the rotation speed of the wheel is positively correlated with the torque of the motor.

[0058] Assume that the first front wheel is the left front wheel of the vehicle, the second front wheel is the right front wheel of the vehicle, the first rear wheel is the left rear wheel of the vehicle, the second rear wheel is the right rear wheel of the vehicle, the steering wheel is turned left, and the target wheel 01 is the left front wheel. When the gear position of the vehicle is D gear, refer to Figure 3 After the steering wheel is turned, the left front wheel and the right front wheel both turn to the left. After locking the left front wheel, the vehicle controller controls the left rear wheel to turn left and the right rear wheel to turn right through the RWS.

[0059] In the process of controlling the vehicle to turn on the spot, the vehicle controller can control the right front wheel to rotate forward through the front wheel motor, control the left rear wheel to rotate reversely through the first rear wheel motor, and control the right rear wheel to rotate forward through the second rear wheel motor, thereby making the vehicle turn on the spot with the left front wheel as the fulcrum, and the vehicle turns on the spot in a counterclockwise direction.

[0060] When the vehicle is in R gear, refer to Figure 4 The vehicle controller can control the right front wheel to reverse through the front wheel motor, control the left rear wheel to rotate forward through the first rear wheel motor, and control the right rear wheel to reverse through the second rear wheel motor, thereby making the vehicle use the left front wheel as a fulcrum and turning on the spot in a clockwise direction.

[0061] Assume that the steering wheel is turned right and the target wheel 01 is the right front wheel. When the vehicle is in the D gear, refer to Figure 5 After the steering wheel is turned, the left front wheel and the right front wheel both turn to the right. After locking the right front wheel, the vehicle controller can control the left rear wheel to turn left and the right rear wheel to turn right through the RWS.

[0062] In the process of controlling the vehicle to turn on the spot, the vehicle controller can control the left front wheel to rotate forward through the front wheel motor, control the right rear wheel to rotate reversely through the first rear wheel motor, and control the left rear wheel to rotate forward through the second rear wheel motor, thereby making the vehicle turn on the spot with the right front wheel as the fulcrum, and the vehicle turns on the spot in a clockwise direction.

[0063] When the vehicle is in R gear, refer to Figure 6 The vehicle controller can control the left front wheel to reverse through the front wheel motor, control the right rear wheel to rotate forward through the first rear wheel motor, and control the left rear wheel to reverse through the second rear wheel motor, thereby making the vehicle use the right front wheel as a fulcrum and turning on the spot in a counterclockwise direction.

[0064] Optionally, if the target wheel is the target rear wheel among the first rear wheel and the second rear wheel, the vehicle controller can control the reference rear wheel to deflect in the direction opposite to the steering direction of the steering wheel, and use the target wheel as a fulcrum to drive the wheels other than the target wheel among the multiple wheels to turn in place. The reference rear wheel is the wheel other than the target rear wheel among the first rear wheel and the second rear wheel, and the deflection angle of the reference rear wheel can be the maximum deflection angle of the rear wheel. For example, if the target wheel is the left rear wheel, the reference rear wheel is the right rear wheel.

[0065] Optionally, in the process of driving the wheels except the target wheel among the multiple wheels to turn in situ, the rotation direction of the first front wheel, the rotation direction of the second front wheel, and the rotation direction of the reference rear wheel are all the same.

[0066] Assume that the steering wheel is turned left and the target wheel 01 is the left rear wheel. When the vehicle is in the D gear, refer to Figure 7 After the steering wheel is turned, the left front wheel and the right front wheel both turn to the left. After locking the left rear wheel, the vehicle controller controls the right rear wheel to turn right through the RWS.

[0067] In the process of controlling the vehicle to turn on the spot, the vehicle controller can control the left front wheel and the right front wheel to rotate forward through the front wheel motor, and control the right rear wheel to rotate forward through the second rear wheel motor, thereby making the vehicle turn on the spot with the left rear wheel as the fulcrum, and the vehicle turns on the spot in a counterclockwise direction.

[0068] When the vehicle is in R gear, refer to Figure 8The vehicle controller can control the left front wheel and the right front wheel to reverse through the front wheel motor, and control the right rear wheel to reverse through the second rear wheel motor, thereby making the vehicle turn on the spot with the left rear wheel as the fulcrum, and the vehicle turns on the spot in a clockwise direction.

[0069] Assume that the steering wheel is turned right and the target wheel 01 is the right rear wheel. When the vehicle is in the D gear, refer to Fig. 9 After the steering wheel is turned, the left front wheel and the right front wheel both turn to the right. After locking the right rear wheel, the vehicle controller controls the left rear wheel to turn left through the RWS.

[0070] In the process of controlling the vehicle to turn on the spot, the vehicle controller can control the left front wheel and the right front wheel to rotate forward through the front wheel motor, and control the left rear wheel to rotate forward through the second rear wheel motor, thereby making the vehicle turn on the spot with the right rear wheel as the fulcrum, and the vehicle turns on the spot in a clockwise direction.

[0071] When the vehicle is in R gear, refer to Fig.10 The vehicle controller can control the left front wheel and the right front wheel to reverse through the front wheel motor, and control the left rear wheel to reverse through the second rear wheel motor, thereby making the vehicle turn on the spot with the right rear wheel as the fulcrum, and the vehicle turns on the spot in a counterclockwise direction.

[0072] Step 206: Control the vehicle to stop and turn on the spot.

[0073] During the process of the vehicle performing on-the-spot turning with the target wheel as a fulcrum, if it is determined that the vehicle meets the conditions for suspending on-the-spot turning, the vehicle controller can control the vehicle to suspend on-the-spot turning.

[0074] The conditions for pausing the turning in place may include one or more of the following: the steering wheel angle is less than the angle threshold, the depth of the vehicle's brake pedal is greater than or equal to a second preset depth. The vehicle controller may pre-store the second preset depth. The vehicle brake pedal may be provided with a second displacement sensor, and the vehicle controller may obtain the depth of the brake pedal through the second displacement sensor.

[0075] Step 207: Control the vehicle to exit the stationary turn.

[0076] If the vehicle does not meet the on-the-spot turning conditions or the vehicle fails the self-test, the vehicle controller may control the vehicle to exit the on-the-spot turning.

[0077] Alternatively, if it is determined that the vehicle meets the conditions for exiting the stationary turn, the vehicle controller may control the vehicle to exit the stationary turn. The conditions for exiting the stationary turn include one or more of the following: the vehicle speed is outside the vehicle speed range, the vehicle gear is a gear other than the D gear or the R gear, the device controlling the stationary turn fails, and a steering exit instruction is received. The gear of the vehicle other than the D gear or the R gear may include the P gear (i.e., the parking gear) or the N gear (i.e., the neutral gear).

[0078] In an embodiment of the present invention, the central control of the vehicle may also be provided with an exit-on-the-spot turning button, and the vehicle controller may generate an exit-on-the-spot turning instruction in response to a selection operation on the exit-on-the-spot turning button to control the vehicle to exit the exit-on-the-spot turning.

[0079] In an embodiment of the present invention, during the process of turning in situ of a vehicle, the distance from the center of the target wheel to the center of the outer front wheel can be called the minimum turning radius, wherein the outer front wheel can be the first front wheel or the second front wheel, and the target front wheel and the target wheel are located on different sides of the vehicle. The minimum turning radius can reflect the steering ability of the vehicle. The smaller the minimum turning radius, the stronger the steering ability of the vehicle, the better the maneuverability, the stronger the turning function in situ, that is, the stronger the ability to pass through a curved road and the ability to turn around on a narrow road. For example, if the target wheel is the left front wheel or the left rear wheel, the outer front wheel is the right front wheel. If the target wheel is the right front wheel or the right rear wheel, the outer front wheel is the left front wheel.

[0080] For example, the target wheel is the left front wheel, the outer front wheel is the right front wheel, and the vehicle's gear is D gear. Fig.11 is a schematic diagram of a vehicle turning radius provided by an embodiment of the present invention, with reference to Fig.11 , the vehicle turns on the spot with the left front wheel as the fulcrum, and the vehicle turns on the spot in a counterclockwise direction. At this time, the minimum turning radius r is the distance from the center of the left front wheel to the center of the right front wheel.

[0081] In actual road conditions, the road conditions are complex and changeable. For example, in bad road conditions such as alleys and narrow roads, if a vehicle wants to turn or make a U-turn, it needs to reverse multiple times to achieve it, which brings great inconvenience to the driver. Through the method provided by the embodiment of the present invention, the driver can select the target wheel according to the actual road conditions to make the vehicle turn on the spot without reversing multiple times. The operation is convenient, thereby improving the driver's driving experience, and it takes less time, is not easy to cause road congestion, and greatly improves the vehicle's passability.

[0082] Take the example of a vehicle passing through a right-angle curve. Fig.12, taking the target wheel 01 as the left front wheel, the vehicle gear position is D gear, driving along the first direction x, and turning in the second direction y as an example (the first direction x is perpendicular to the second direction y), the vehicle uses the left front wheel as a fulcrum to control the vehicle to rotate 90 degrees counterclockwise to achieve on-the-spot turning, so that the vehicle can pass through the right-angle curve.

[0083] The method provided by the embodiment of the present invention is also applicable to parking on narrow roads. Fig.13 For example, when a vehicle is traveling in the third direction v and needs to park in the first parking space P, before the vehicle travels in the third direction to the target parking space in the D gear, any front wheel can be determined as the target wheel. Assuming that the driver determines the left front wheel of the vehicle as the target wheel 01, the vehicle is controlled to rotate 90 degrees counterclockwise with the left front wheel as the fulcrum, so that the vehicle body faces the first parking space P. After that, the driver can return the steering wheel to the center and reverse in a straight line into the first parking space P. In this way, the vehicle can be quickly parked in a limited space without having to reverse multiple times.

[0084] In the embodiment of the present invention, when the target wheel is the left front wheel, when the vehicle turns in place, since the first rear wheel and the second rear wheel are driven by the first rear wheel motor and the second rear wheel motor respectively, and have the rear wheel independent drive and independent steering fusion control capabilities, the total yaw moment of the vehicle can be composed of three parts, namely, the yaw moment M1 caused by the side deviation of the rear wheels caused by the front wheel steering, the yaw moment M2 caused by the opposite rotation directions of the first rear wheel and the second rear wheel, and the yaw moment M3 caused by the first rear wheel and the second rear wheel deflecting in opposite directions. Compared with the traditional steering method, by using the method provided by the embodiment of the present invention, the total yaw moment of the vehicle is larger, the vehicle control accuracy and steering ability can be improved, and the vehicle steering is more maneuverable and flexible.

[0085] To sum up, an embodiment of the present invention provides a vehicle on-the-spot steering control method, in which a vehicle controller responds to an on-the-spot steering instruction to control the vehicle to perform on-the-spot steering with a target wheel as a fulcrum, thereby controlling the vehicle to perform on-the-spot steering, and in the event of a traffic jam, vehicle congestion can be avoided by steering on the spot, wherein the target wheel is any one of a plurality of wheels.

[0086] Furthermore, since the embodiment of the present invention can determine any one of the multiple wheels as a fulcrum during the on-the-spot turning process, the flexibility of the vehicle's on-the-spot turning is effectively improved, making the vehicle's on-the-spot turning more convenient and controllable.

[0087] An embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the vehicle in-situ steering control method shown in the above embodiment is implemented. For example, Figure 1 or Figure 2 The vehicle on-the-spot steering control method is shown.

[0088] Fig.14 is a schematic diagram of the structure of a vehicle controller provided by an embodiment of the present invention, such as Fig.14 As shown, the vehicle controller 140 includes a memory 1401, a processor 1402, and a computer program stored in the memory 1401 and executable on the processor 1402. When the processor 1402 executes the computer program, the vehicle in-situ steering control method shown in the above embodiment is implemented. For example, Figure 1 or Figure 2 The vehicle on-the-spot steering control method is shown.

[0089] Fig.15 is a block diagram of a vehicle in-situ steering control device provided by an embodiment of the present invention, such as Fig.15 As shown, the device comprises: The determination module 1501 is used to respond to a selection instruction for a target wheel among multiple wheels and use the target wheel as a steering fulcrum, where the target wheel is any wheel among the multiple wheels.

[0090] The control module 1502 is used to lock the target wheel and control the vehicle to perform on-the-spot turning when it is determined that the vehicle meets the on-the-spot turning conditions.

[0091] Optionally, before controlling the vehicle to perform in-situ turning with the target wheel as a fulcrum, the control module 1502 is used to: In response to a selection instruction for a target wheel among the plurality of wheels, the target wheel is locked.

[0092] Optionally, the control module 1502 is used to: When the vehicle meets the conditions for turning on the spot, the vehicle is controlled to turn on the spot with the target wheel as the fulcrum.

[0093] Optionally, before controlling the vehicle to meet the on-the-spot turning condition, the vehicle is in a stationary state.

[0094] Optional, on-the-spot turning conditions, including: The vehicle's gear position is D gear or R gear, the steering wheel angle is greater than or equal to an angle threshold, the vehicle speed is within a vehicle speed range, and the depth of the vehicle's accelerator pedal is greater than or equal to a first preset depth.

[0095] Optionally, the target wheel is a target front wheel among the first front wheel and the second front wheel; the control module 1502 is used to: Control the first rear wheel and the second rear wheel to deflect in opposite directions respectively; Using the target wheel as a fulcrum, driving the wheels other than the target wheel among the multiple wheels to turn in place; The deflection direction of the first rear wheel is the same as the steering direction of the steering wheel, and the first rear wheel and the target wheel are located on the same side of the vehicle.

[0096] Optionally, in the process of driving the wheels other than the target wheel among the multiple wheels to turn in situ, the rotation direction of the reference front wheel is the same as the rotation direction of the second rear wheel, and the rotation direction of the second rear wheel is opposite to the rotation direction of the first rear wheel; The reference front wheel is a wheel other than the target front wheel among the first front wheel and the second front wheel.

[0097] Optionally, the deflection angles of the first rear wheel and the second rear wheel are the maximum deflection angles of the rear wheels.

[0098] Optionally, the target wheel is a target rear wheel among the first rear wheel and the second rear wheel; the control module 1502 is used to: Controlling a reference rear wheel to deflect in a direction opposite to the direction of the steering wheel, the reference rear wheel being a wheel other than the target rear wheel among the first rear wheel and the second rear wheel; With the target wheel as a fulcrum, the wheels other than the target wheel among the multiple wheels are driven to turn in situ.

[0099] Optionally, in the process of driving the wheels except the target wheel among the multiple wheels to turn on the spot, the rotation direction of the two front wheels and the rotation direction of the reference rear wheel are the same.

[0100] Optionally, the deflection angle of the reference rear wheel is the maximum deflection angle of the rear wheel.

[0101] Optionally, the control module 1502 is used to: When it is determined that the vehicle meets the conditions for suspending on-the-spot turning, the vehicle is controlled to suspend on-the-spot turning.

[0102] Optionally, the conditions for pausing the turning in place include one or more of the following: The steering wheel angle is less than the angle threshold and the depth of the vehicle's brake pedal is greater than or equal to a second preset depth.

[0103] Optionally, the control module 1502 is used to: When it is determined that the vehicle meets the conditions for exiting the stationary turn, the vehicle is controlled to exit the stationary turn.

[0104] Optionally, the conditions for exiting the on-site turn include one or more of the following: The vehicle speed is outside the vehicle speed range, the vehicle's gear is in a gear other than D or R, the device that controls the vehicle's on-the-spot steering is faulty, or a steering exit command is received.

[0105] To sum up, an embodiment of the present invention provides a vehicle on-the-spot steering control device, which can respond to an on-the-spot steering instruction to control the vehicle to perform on-the-spot steering with a target wheel as a fulcrum, thereby controlling the vehicle to perform on-the-spot steering, and in the event of a traffic jam, vehicle congestion can be avoided by on-the-spot steering, wherein the target wheel is any one of multiple wheels.

[0106] Furthermore, since the embodiment of the present invention can determine any one of the multiple wheels as a fulcrum during the on-the-spot turning process, the flexibility of the vehicle's on-the-spot turning is effectively improved, making the vehicle's on-the-spot turning more convenient and controllable.

[0107] An embodiment of the present invention provides a vehicle, which includes the above-mentioned vehicle controller, or the vehicle on-site steering control device.

[0108] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0109] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0110] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0111] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0112] In addition, the terms "first", "second", etc. used in the embodiments of the present invention are only used for descriptive purposes and should not be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in the present embodiment. Therefore, the features defined by the terms "first", "second", etc. in the embodiments of the present invention can explicitly or implicitly indicate that the embodiment includes at least one of the features. In the description of the present invention, the word "multiple" means at least two or two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0113] In the present invention, unless otherwise clearly specified or limited in the embodiments, the terms "installed", "connected", "connected" and "fixed" etc. in the embodiments should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integrated connection. It can be understood that it can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements, or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific implementation situation.

[0114] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0115] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A vehicle on-site steering control method, characterized in that: The method comprises: In response to the on-site steering instruction, controlling the vehicle to perform on-site steering with the target wheel as a fulcrum; Wherein, the target wheel is any wheel among multiple wheels.

2. The method according to claim 1, characterized in that Before controlling the vehicle to perform in-situ turning with the target wheel as a fulcrum, the method further includes: In response to a selection instruction for the target wheel among the plurality of wheels, the target wheel is locked.

3. The method according to claim 1, characterized in that: The method of controlling the vehicle to perform in-situ steering with the target wheel as a fulcrum comprises: When the vehicle satisfies the on-the-spot turning condition, the vehicle is controlled to perform on-the-spot turning with the target wheel as a fulcrum.

4. The method according to claim 3, characterized in that Before the vehicle is controlled to meet the on-the-spot turning condition, the vehicle is in a stationary state.

5. The method according to claim 3, characterized in that: The on-site turning conditions include: The gear position of the vehicle is D gear or R gear, the steering wheel angle is greater than or equal to an angle threshold, the vehicle speed is within a vehicle speed range, and the depth of the accelerator pedal of the vehicle is greater than or equal to a first preset depth.

6. The method according to claim 5, characterized in that The target wheel is a target front wheel among the first front wheel and the second front wheel; and controlling the vehicle to perform in-situ steering with the target wheel as a fulcrum comprises: Controlling the first rear wheel and the second rear wheel to deflect in opposite directions respectively; Using the target wheel as a fulcrum, driving the wheels other than the target wheel among the plurality of wheels to turn in situ; The deflection direction of the first rear wheel is the same as the steering direction of the steering wheel, and the first rear wheel and the target wheel are located on the same side of the vehicle.

7. The method according to claim 6, characterized in that In the process of driving the wheels other than the target wheel among the plurality of wheels to turn in situ, the rotation direction of the reference front wheel is the same as the rotation direction of the second rear wheel, and the rotation direction of the second rear wheel is opposite to the rotation direction of the first rear wheel; The reference front wheel is a wheel of the first front wheel and the second front wheel except the target front wheel.

8. The method according to claim 7, characterized in that The deflection angles of the first rear wheel and the second rear wheel are maximum deflection angles of the rear wheels.

9. The method according to claim 5, characterized in that The target wheel is a target rear wheel among the first rear wheel and the second rear wheel; and controlling the vehicle to perform in-situ steering with the target wheel as a fulcrum comprises: Controlling a reference rear wheel to deflect in a direction opposite to the direction of the steering wheel, wherein the reference rear wheel is a wheel of the first rear wheel and the second rear wheel other than the target rear wheel; With the target wheel as a fulcrum, the wheels other than the target wheel among the plurality of wheels are driven to turn in situ.

10. The method according to claim 9, characterized in that In the process of driving the wheels except the target wheel among the plurality of wheels to turn in situ, the rotation directions of the two front wheels and the rotation direction of the reference rear wheel are the same.

11. The method according to claim 9, characterized in that The reference rear wheel deflection angle is the maximum deflection angle of the rear wheel.

12. The method according to any one of claims 1 to 11, characterized in that: The method further comprises: When it is determined that the vehicle meets the condition for suspending stationary turning, the vehicle is controlled to suspend stationary turning.

13. The method according to claim 12, characterized in that The conditions for pausing turning in place include one or more of the following: The steering wheel angle is less than an angle threshold and the depth of the brake pedal of the vehicle is greater than or equal to a second preset depth.

14. The method according to any one of claims 1 to 11, characterized in that: The method further comprises: When it is determined that the vehicle meets the condition for exiting the stationary turn, the vehicle is controlled to exit the stationary turn.

15. The method according to claim 14, characterized in that The exit and turn conditions include one or more of the following: The vehicle speed is outside the vehicle speed range, the gear position of the vehicle is a gear other than D gear or R gear, the device controlling the vehicle to turn on the spot is faulty, and a steering exit command is received.

16. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the vehicle in-situ steering control method according to any one of claims 1 to 15 is implemented.

17. A vehicle controller, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the vehicle in-situ steering control method according to any one of claims 1 to 15 is implemented.

18. A vehicle, characterized in that: include: The vehicle controller of claim 17.

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