Vehicle U-turn control method and device, storage medium and vehicle control system

Abstract

The invention relates to a vehicle U-turn control method and device, a storage medium and a vehicle control system. The vehicle U-turn control method belongs to the technical field of vehicle manufacturing, and comprises the following steps: receiving a vehicle U-turn instruction sent by a remote terminal to a vehicle control system; wherein the vehicle U-turn instruction comprises a U-turn mode for indicating the U-turn of the vehicle; and according to the vehicle U-turn instruction, when it is judged that the current state of the vehicle meets the vehicle U-turn condition, vehicle U-turn is conducted according to the U-turn mode, indicated by the vehicle U-turn instruction, of vehicle U-turn. According to the method, the vehicle U-turn instruction sent by the remote terminal to the vehicle control system is received, and vehicle U-turn is carried out according to the U-turn mode indicated by the vehicle U-turn instruction when it is judged that the current state of the vehicle meets the vehicle U-turn condition based on the remotely received vehicle U-turn instruction. In the whole process, a person does not need to enter the vehicle to turn around, so that the convenience of turning around of the vehicle and the operation efficiency of the vehicle are improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle manufacturing, and in particular to a vehicle U-turn control method, a vehicle U-turn control device, a storage medium, and a vehicle control system. Background Art

[0002] When a vehicle is driving on some narrow roads, or encounters a traffic accident, road collapse, mudslide, or other situations ahead, it needs to turn or U-turn. Sometimes it is necessary to turn the vehicle around to reach the destination due to route reasons. But sometimes due to time constraints, the personnel do not have enough time to drive the vehicle to turn around, or in some dangerous scenarios, it is inconvenient for the personnel to drive the vehicle personally. This will undoubtedly increase the inconvenience of vehicle operation. Summary of the invention

[0003] In view of this, the embodiments of the present disclosure are intended to provide a vehicle U-turn control method, a vehicle U-turn control device, a storage medium, and a vehicle control system.

[0004] The technical solution of the present disclosure is achieved as follows:

[0005] In a first aspect, the present disclosure provides a vehicle U-turn control method.

[0006] The vehicle U-turn control method provided by the embodiment of the present disclosure includes:

[0007] Sending a vehicle type of a vehicle to be turned to a remote terminal at a predetermined distance, so that the remote terminal can determine a turning method for controlling the vehicle to turn based on the vehicle type;

[0008] Receiving a vehicle U-turn instruction sent by a remote terminal at a predetermined distance to a vehicle control system; wherein the vehicle U-turn instruction includes a U-turn method for instructing the vehicle to turn around;

[0009] According to the vehicle U-turn instruction, when it is determined that the current state of the vehicle satisfies the vehicle U-turn condition, the vehicle is controlled to perform a U-turn action corresponding to the U-turn method according to the U-turn method of the vehicle indicated in the vehicle U-turn instruction to perform the vehicle U-turn.

[0010] In some embodiments, the vehicle U-turn instruction sent by the remote terminal to the vehicle control system is generated based on the U-turn method of the vehicle and the current vehicle state of the vehicle; wherein the U-turn method of the vehicle corresponds to the operation process corresponding to different vehicle states during the U-turn operation of the vehicle;

[0011] According to the U-turn mode of the vehicle indicated in the vehicle U-turn instruction, controlling the vehicle to perform a U-turn action corresponding to the U-turn mode to perform the vehicle U-turn, including:

[0012] Based on the vehicle U-turn instruction, combined with the vehicle U-turn mode and the current vehicle state of the vehicle, a U-turn action of an operation flow corresponding to the current vehicle state is executed.

[0013] In some embodiments, the remote terminal has an operation interface; the operation interface has an operation button for controlling a vehicle U-turn;

[0014] While controlling the vehicle to perform a U-turn action corresponding to the U-turn mode to perform a U-turn of the vehicle, the method includes:

[0015] The current vehicle state of the vehicle is fed back to the remote terminal in real time, so that the remote terminal can adjust the display color of the operation buttons in the operation interface based on the current vehicle state of the vehicle; wherein the display color of the operation buttons represents the degree of execution of the action when the vehicle performs a U-turn.

[0016] In some embodiments, the current vehicle state when the vehicle turns around includes a vehicle turning around preparation state, a vehicle turning around state, and a vehicle turning around completion state;

[0017] The performing a U-turn action of an operation flow corresponding to the current state of the vehicle based on the vehicle U-turn instruction, in combination with the vehicle U-turn mode and the current state of the vehicle, comprises:

[0018] If the vehicle is in the vehicle U-turn preparation state, determining whether the vehicle meets the vehicle U-turn condition;

[0019] If the vehicle meets the vehicle U-turn condition, based on the first operation instruction issued by the remote terminal, the vehicle is caused to perform relevant operations for preparing for a U-turn of the vehicle, so as to complete the vehicle U-turn preparation state; wherein the first operation instruction is generated by triggering a first button in the remote terminal associated with the vehicle U-turn preparation state;

[0020] If the vehicle is in the vehicle U-turn state, based on the second operation instruction issued by the remote terminal, the vehicle performs relevant operations of the vehicle U-turn to complete the vehicle U-turn; wherein, the second operation instruction is generated by triggering a second button in the remote terminal associated with the vehicle U-turn preparation state; the first operation instruction and the second operation instruction are both the vehicle U-turn instructions; the first button may be different from the second button.

[0021] In some embodiments, the first button includes a left turn button, a right turn button, and a turn-around button; the second button includes a turn-around button, a return button, and an exit button;

[0022] If the vehicle meets the vehicle U-turn condition, based on the first operation instruction sent by the remote terminal, the vehicle is caused to perform relevant operations for preparing for a U-turn of the vehicle to complete the vehicle U-turn preparation state, including:

[0023] If the vehicle meets the vehicle U-turn condition, then based on the vehicle U-turn direction indicated by the first operation instruction, the wheel angle of the vehicle is adjusted so that the vehicle completes the vehicle U-turn preparation state; wherein the first operation instruction is triggered by the left turn button or the right turn button of the remote terminal;

[0024] If the vehicle is in the vehicle U-turn state, based on the second operation instruction sent by the remote terminal, the vehicle is caused to perform relevant operations of the vehicle U-turn to complete the vehicle U-turn, including:

[0025] If the vehicle completes the vehicle turn preparation state, the vehicle electric drive module is controlled to output torque based on the second operation instruction, so that the vehicle performs a vehicle turn action to complete the vehicle turn; wherein, the second operation instruction is generated by triggering the on-site turn button of the remote terminal.

[0026] In some embodiments, the real-time feedback of the current vehicle state of the vehicle to the remote terminal, so that the remote terminal can adjust the display color of the operation buttons in the operation interface based on the current vehicle state of the vehicle, includes:

[0027] When the accurate state of the vehicle completing the U-turn is fed back, the remote terminal activates the remote terminal's U-turn button from gray to green based on the vehicle's U-turn preparation state;

[0028] When the vehicle is in a U-turn state, the remote terminal changes the on-the-spot U-turn button of the remote terminal from green to blue based on the vehicle being in a U-turn state, and changes the on-the-spot U-turn button from blue to green when the U-turn action stops.

[0029] In some embodiments, the current state of the vehicle satisfies the vehicle U-turn condition, including:

[0030] The vehicle is in normal operation and the gear is in the forward gear;

[0031] The normal running state of the vehicle includes the high voltage on the vehicle, the normal braking system, the normal steering system, the normal motor system, the normal state of the four doors and two covers, and the normal motor temperature; the U-turn mode for instructing the vehicle to turn around includes: three-motor driven U-turn and four-motor driven U-turn;

[0032] The three-motor driven U-turn is to brake one wheel through the motor and drive three wheels to make a U-turn at the same time;

[0033] The four-motor driven U-turn is to make a U-turn of the vehicle by using the motors to drive the four wheels.

[0034] In a second aspect, the present disclosure provides a vehicle U-turn control device, comprising:

[0035] A U-turn mode determination module, used for sending the vehicle type of the vehicle to be turned to a remote terminal outside a predetermined distance, so that the remote terminal can determine the U-turn mode for controlling the U-turn of the vehicle based on the vehicle type;

[0036] An instruction sending module, used for receiving a vehicle U-turn instruction sent by a remote terminal outside a predetermined distance to a vehicle control system; wherein the vehicle U-turn instruction includes a U-turn mode indicating the U-turn of the vehicle;

[0037] The vehicle control module is used to control the vehicle to perform a U-turn action corresponding to the U-turn method indicated in the vehicle U-turn instruction according to the vehicle U-turn instruction, when it is determined that the current state of the vehicle meets the vehicle U-turn conditions.

[0038] In a third aspect, the present disclosure provides a vehicle U-turn control system, characterized in that it includes:

[0039] A remote terminal is used to send a vehicle U-turn instruction to a vehicle control system; wherein the vehicle U-turn instruction includes a U-turn method for instructing the vehicle to turn around;

[0040] The vehicle control system is communicatively connected to the remote terminal, and is used for sending the vehicle type of the vehicle to be turned to the remote terminal outside a predetermined distance, so that the remote terminal can determine the turning method of controlling the vehicle to turn around based on the vehicle type; and after receiving the vehicle turning instruction sent by the remote terminal outside the predetermined distance to the vehicle control system, according to the vehicle turning instruction, when it is judged that the current state of the vehicle satisfies the vehicle turning conditions, according to the turning method of the vehicle indicated in the vehicle turning instruction, the vehicle is controlled to perform a turning action corresponding to the turning method to turn the vehicle around.

[0041] In some embodiments, including:

[0042] An on-board communication module, communicatively connected to the remote terminal and the vehicle control system;

[0043] The vehicle-mounted communication module is used to receive the vehicle U-turn instruction sent by the remote terminal to the vehicle control system, and forward the vehicle U-turn instruction to the vehicle control system.

[0044] In a fourth aspect, the present disclosure provides a computer-readable storage medium having a vehicle U-turn control program stored thereon. When the vehicle U-turn control program is executed by a processor, the vehicle U-turn control method described in the first aspect is implemented.

[0045] In a fifth aspect, the present disclosure provides a vehicle control system, comprising a memory, a processor, and a vehicle turn control program stored in the memory and executable on the processor, wherein when the processor executes the vehicle turn control program, the vehicle turn control method described in the first aspect is implemented.

[0046] According to the vehicle U-turn control method of the embodiment of the present disclosure, the method includes sending the vehicle type of the vehicle to be turned to a remote terminal outside a predetermined distance, so that the remote terminal can determine the U-turn mode of controlling the vehicle U-turn based on the vehicle type; receiving the vehicle U-turn instruction sent by the remote terminal outside the predetermined distance to the vehicle control system; wherein the vehicle U-turn instruction includes the U-turn mode indicating the vehicle U-turn; according to the vehicle U-turn instruction, when it is determined that the current state of the vehicle meets the vehicle U-turn condition, according to the U-turn mode of the vehicle U-turn indicated in the vehicle U-turn instruction, the vehicle is controlled to perform the U-turn action corresponding to the U-turn mode to perform the vehicle U-turn. During the whole process, there is no need for personnel to enter the vehicle to perform the U-turn operation, and remote unmanned U-turn is realized, which is conducive to improving the convenience of vehicle U-turn and vehicle operation efficiency.

[0047] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description or learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 is a flow chart of a vehicle U-turn control method according to an exemplary embodiment;

[0049] Figure 2 is a schematic diagram of a vehicle control system structure according to an exemplary embodiment;

[0050] Figure 3 A remote terminal control interface diagram according to an exemplary embodiment is shown Figure 1 ;

[0051] Figure 4 is a flow chart of remote control of turning on the spot for a four-motor vehicle according to an exemplary embodiment;

[0052] Figure 5 A remote terminal control interface diagram according to an exemplary embodiment is shown Figure 2 ;

[0053] Figure 6 is a flow chart of remote control of turning on the spot for a three-motor vehicle according to an exemplary embodiment;

[0054] Figure 7 A remote terminal control interface diagram according to an exemplary embodiment is shown Figure 3 ;

[0055] Figure 8 A remote terminal control interface diagram according to an exemplary embodiment is shown Figure 4 ;

[0056] Fig. 9 The figure is a schematic structural diagram of a vehicle U-turn control device according to an exemplary embodiment. DETAILED DESCRIPTION

[0057] Embodiments of the present disclosure 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 disclosure, and should not be construed as limiting the present disclosure.

[0058] When a vehicle is driving on some narrow roads, or encounters a traffic accident, road collapse, mudslide, or other situations ahead, it needs to turn or U-turn. Sometimes it is necessary to turn the vehicle around to reach the destination due to route reasons. But sometimes due to time constraints, the personnel do not have enough time to drive the vehicle to turn around, or in some dangerous scenarios, it is inconvenient for the personnel to drive the vehicle personally. This will undoubtedly increase the inconvenience of vehicle operation.

[0059] In view of the above situation, the present disclosure provides a vehicle U-turn control method, which is applied to a control terminal. Figure 1 FIG. 1 is a flow chart of a vehicle U-turn control method according to an exemplary embodiment. Figure 1 As shown, the vehicle U-turn control method includes:

[0060] Step 10: Sending the vehicle type of the vehicle to be turned to a remote terminal at a predetermined distance, so that the remote terminal can determine a turning method for controlling the vehicle to turn based on the vehicle type;

[0061] Step 11, receiving a vehicle U-turn instruction sent by a remote terminal outside a predetermined distance to a vehicle control system; wherein the vehicle U-turn instruction includes a U-turn method indicating the U-turn of the vehicle;

[0062] Step 12: According to the vehicle U-turn instruction, when it is determined that the current state of the vehicle satisfies the vehicle U-turn condition, according to the U-turn mode of the vehicle indicated in the vehicle U-turn instruction, the vehicle is controlled to perform a U-turn action corresponding to the U-turn mode to perform the vehicle U-turn.

[0063] In this exemplary embodiment, Figure 2FIG. 1 is a schematic diagram of a vehicle control system structure according to an exemplary embodiment. Figure 2 As shown, the remote terminal can be a mobile device such as a mobile phone. An app can be installed in a mobile device such as a mobile phone. The mobile device establishes a communication connection with the vehicle's control system via Bluetooth, NFC or cloud data communication.

[0064] In this exemplary embodiment, the vehicle U-turn signal can be forwarded to the vehicle controller VCU through a gateway or a domain controller via a mobile device. The VCU performs an on-the-spot U-turn control by identifying the received vehicle U-turn instruction. For a four-motor distributed drive vehicle model, the VCU controls the electric drive module to output power and controls the brake module to brake. Expandably, for a three-motor distributed drive vehicle model, the VCU controls the electric drive module to output power to the drive motor, controls the brake module to control the brake for braking, and controls the steering module to control the steering gear for steering. The steering angle is set to the maximum angle when turning on the spot, such as a steering angle of 540 degrees (calibrable). A three-motor vehicle model refers to a rear axle with two left and right wheel-side motors, and a front axle with a pure electric single motor or a hybrid configuration, wherein the front axle hybrid can only be operated as a pure electric or extended-range pure electric vehicle.

[0065] According to the vehicle U-turn control method of the embodiment of the present disclosure, the method includes sending the vehicle type of the vehicle to be turned to a remote terminal outside a predetermined distance, so that the remote terminal can determine the U-turn mode of controlling the vehicle U-turn based on the vehicle type; receiving the vehicle U-turn instruction sent by the remote terminal outside the predetermined distance to the vehicle control system; wherein the vehicle U-turn instruction includes the U-turn mode indicating the vehicle U-turn; according to the vehicle U-turn instruction, when it is determined that the current state of the vehicle meets the vehicle U-turn condition, according to the U-turn mode of the vehicle U-turn indicated in the vehicle U-turn instruction, the vehicle is controlled to perform the U-turn action corresponding to the U-turn mode to perform the vehicle U-turn. During the whole process, there is no need for personnel to enter the vehicle to perform the U-turn operation, and remote unmanned U-turn is realized, which is conducive to improving the convenience of vehicle U-turn and vehicle operation efficiency.

[0066] In some embodiments, the vehicle U-turn instruction sent by the remote terminal to the vehicle control system is generated based on the U-turn method of the vehicle and the current vehicle state of the vehicle; wherein the U-turn method of the vehicle corresponds to the operation process corresponding to different vehicle states during the U-turn operation of the vehicle;

[0067] According to the U-turn mode of the vehicle indicated in the vehicle U-turn instruction, controlling the vehicle to perform a U-turn action corresponding to the U-turn mode to perform the vehicle U-turn, including:

[0068] Based on the vehicle U-turn instruction, combined with the vehicle U-turn mode and the current vehicle state of the vehicle, a U-turn action of an operation flow corresponding to the current vehicle state is executed.

[0069] In this exemplary embodiment, the U-turn mode of the vehicle corresponds to the operation process corresponding to different vehicle states during the U-turn operation of the vehicle. For example, the vehicle state may include the vehicle U-turn preparation state, the vehicle U-turn state and the vehicle U-turn completion state. Among them, the U-turn actions corresponding to the operation process of different vehicle states will be different. At the same time, the U-turn actions of the operation process corresponding to different U-turn modes for the same vehicle state may also be different. For example, in the U-turn state of the vehicle, the U-turn mode of three-motor driven U-turn can fix one wheel and realize the U-turn in place by driving the other three wheels. The U-turn mode of four-motor driven U-turn requires driving four wheels at the same time to realize the U-turn in place.

[0070] In some embodiments, the remote terminal has an operation interface; the operation interface has an operation button for controlling a vehicle U-turn;

[0071] While controlling the vehicle to perform a U-turn action corresponding to the U-turn mode to perform a U-turn of the vehicle, the method includes:

[0072] The current vehicle state of the vehicle is fed back to the remote terminal in real time, so that the remote terminal can adjust the display color of the operation buttons in the operation interface based on the current vehicle state of the vehicle; wherein the display color of the operation buttons represents the degree of execution of the action when the vehicle performs a U-turn.

[0073] In this exemplary embodiment, the remote terminal can communicate with the vehicle control system of the vehicle through a Bluetooth module. Among them, the remote terminal has an app operation interface. The operation interface has an operation button for controlling the vehicle to turn around. The remote terminal generates a vehicle turn-around instruction through the triggering of the operation button, and sends it to the vehicle to be turned around, so that the vehicle turns around according to the vehicle turn-around instruction. At the same time, in order to make the remote terminal operator clear about the vehicle status during the vehicle turn-around process, the operation button of the remote terminal can be displayed in color, and the display color of the operation button represents the degree of action execution when the vehicle performs the vehicle turn-around action. For example, when the vehicle U-turn preparation state is completed, the button color is displayed in green; when the vehicle U-turn is in progress, the button color is displayed in blue; when the vehicle stops turning around halfway, the button display changes from blue to green; when the vehicle U-turn is completed, the button is displayed in red, and so on. In this way, the button color display of the remote terminal is conducive to the operator to clarify the vehicle status during the vehicle U-turn.

[0074] In some embodiments, the current vehicle state when the vehicle turns around includes a vehicle turning around preparation state, a vehicle turning around state, and a vehicle turning around completion state;

[0075] The performing a U-turn action of an operation flow corresponding to the current state of the vehicle based on the vehicle U-turn instruction, in combination with the vehicle U-turn mode and the current state of the vehicle, comprises:

[0076] If the vehicle is in the vehicle U-turn preparation state, determining whether the vehicle meets the vehicle U-turn condition;

[0077] If the vehicle meets the vehicle U-turn condition, based on the first operation instruction issued by the remote terminal, the vehicle is caused to perform relevant operations for preparing for a U-turn of the vehicle, so as to complete the vehicle U-turn preparation state; wherein the first operation instruction is generated by triggering a first button in the remote terminal associated with the vehicle U-turn preparation state;

[0078] If the vehicle is in the vehicle U-turn state, based on the second operation instruction issued by the remote terminal, the vehicle performs relevant operations of the vehicle U-turn to complete the vehicle U-turn; wherein, the second operation instruction is generated by triggering a second button in the remote terminal associated with the vehicle U-turn preparation state; the first operation instruction and the second operation instruction are both the vehicle U-turn instructions; the first button may be different from the second button.

[0079] In this exemplary embodiment, the process of turning the vehicle around may include at least three processes: vehicle turning preparation state, vehicle turning state and vehicle turning completion state. Among them, in the above three processes, each turning process may include corresponding operation actions. For example, the vehicle turning preparation state may include the preparation operation before the vehicle turns accurately. The vehicle turning state may include the operation action corresponding to the vehicle turning around. After the vehicle turning around is completed, there may be an operation action corresponding to the vehicle turning around stopping. Among them, for different turning states of the vehicle, the vehicle receives corresponding different operation instructions and performs different operation actions. For example, if the vehicle meets the vehicle turning condition, based on the first operation instruction issued by the remote terminal, the vehicle performs the relevant operation of the vehicle turning around to complete the vehicle turning around preparation state; wherein, the first operation instruction is generated by the first button trigger associated with the vehicle turning around preparation state in the remote terminal; if the vehicle is in the vehicle turning around state, based on the second operation instruction issued by the remote terminal, the vehicle performs the relevant operation of the vehicle turning around to complete the vehicle turning around; wherein, the second operation instruction is generated by the second button trigger associated with the vehicle turning around preparation state in the remote terminal. In this way, the operation actions under different vehicle U-turn states can be implemented, which is beneficial to improving the vehicle U-turn efficiency.

[0080] In some embodiments, the first button includes a left turn button, a right turn button, and a turn-around button; the second button includes a turn-around button, a return button, and an exit button;

[0081] If the vehicle meets the vehicle U-turn condition, based on the first operation instruction sent by the remote terminal, the vehicle is caused to perform relevant operations for preparing for a U-turn of the vehicle to complete the vehicle U-turn preparation state, including:

[0082] If the vehicle meets the vehicle U-turn condition, then based on the vehicle U-turn direction indicated by the first operation instruction, the wheel angle of the vehicle is adjusted so that the vehicle completes the vehicle U-turn preparation state; wherein the first operation instruction is triggered by the left turn button or the right turn button of the remote terminal;

[0083] If the vehicle is in the vehicle U-turn state, based on the second operation instruction sent by the remote terminal, the vehicle is caused to perform relevant operations of the vehicle U-turn to complete the vehicle U-turn, including:

[0084] If the vehicle completes the vehicle turn preparation state, the vehicle electric drive module is controlled to output torque based on the second operation instruction, so that the vehicle performs a vehicle turn action to complete the vehicle turn; wherein, the second operation instruction is generated by triggering the on-site turn button of the remote terminal.

[0085] In this exemplary embodiment, the current state of the vehicle satisfies the vehicle U-turn condition, including:

[0086] The vehicle is in normal operation and the gear is in the forward gear;

[0087] Among them, the normal operating status of the vehicle includes that the high voltage electricity on the vehicle, the braking system is normal, the steering system is normal, the motor system is normal, the four doors and two covers are in normal status, and the motor temperature is normal.

[0088] In this exemplary embodiment, after the vehicle receives the vehicle U-turn instruction sent by the remote control terminal, it is necessary to verify whether the vehicle status meets the vehicle U-turn conditions. For example, whether the vehicle operating status is normal and whether the gear is in the forward gear, etc. Whether the vehicle operating status is normal, for example, whether the vehicle operating status includes the vehicle's high voltage electricity, normal braking system, normal steering system, normal motor system, normal status of four doors and two covers, and normal motor temperature. If the vehicle's high voltage electricity, normal braking system, normal steering system, normal motor system, normal status of four doors and two covers, and normal motor temperature are at this time, then the vehicle meets the vehicle U-turn conditions at this time, and the vehicle U-turn operation can be performed according to the vehicle U-turn instruction. Performing a vehicle U-turn operation when the vehicle meets the vehicle U-turn conditions is conducive to improving the safety of the vehicle U-turn.

[0089] In this exemplary embodiment, when the vehicle meets the vehicle U-turn condition, the wheel angle of the vehicle can be adjusted based on the vehicle U-turn direction indicated by the first operation instruction, so that the vehicle completes the vehicle U-turn preparation state. Among them, the wheel angle of the vehicle can be set in advance in the remote terminal and sent to the vehicle through the first operation instruction. For example, a control for the wheel angle rotation value can be set in the operation interface of the remote terminal; the wheel angle to be adjusted can be input in the control. The predetermined wheel angle value is sent to the vehicle by operating the control, so that the vehicle adjusts the wheel to the predetermined wheel angle value when starting the U-turn. In this way, the efficiency of vehicle U-turn control is improved.

[0090] In some embodiments, the real-time feedback of the current vehicle state of the vehicle to the remote terminal, so that the remote terminal can adjust the display color of the operation buttons in the operation interface based on the current vehicle state of the vehicle, includes:

[0091] When the accurate state of the vehicle completing the U-turn is fed back, the remote terminal activates the remote terminal's U-turn button from gray to green based on the vehicle's U-turn preparation state;

[0092] When the vehicle is in a U-turn state, the remote terminal changes the on-the-spot U-turn button of the remote terminal from green to blue based on the vehicle being in a U-turn state, and changes the on-the-spot U-turn button from blue to green when the U-turn action stops.

[0093] In this exemplary embodiment, the display color of the operation interface of the remote terminal can be used to represent the degree of execution of the vehicle's U-turn action. For example, the color change of the operation button can be used to represent the operation state of the operation action. For example, when the vehicle completes the vehicle U-turn preparation state, the U-turn button on the remote terminal is activated to change from gray to green. When the vehicle is in the vehicle U-turn state, the U-turn button on the remote terminal is changed from green to blue, and when the U-turn action stops, the U-turn button on the remote terminal is changed from blue to green. In this way, it is convenient for the operator to understand the vehicle U-turn state at any time.

[0094] In some embodiments, the U-turn mode for instructing the vehicle to turn around includes: a three-motor driven U-turn and a four-motor driven U-turn;

[0095] The three-motor driven U-turn is to brake one wheel through the motor and drive three wheels to make a U-turn at the same time;

[0096] The four-motor driven U-turn is to make a U-turn of the vehicle by using the motors to drive the four wheels.

[0097] In this exemplary embodiment, according to different vehicle types, the vehicle U-turn mode can be divided into a three-motor driven U-turn and a four-motor driven U-turn. Figure 3 A remote terminal control interface diagram according to an exemplary embodiment is shown Figure 1 .like Figure 3 As shown, Figure 3 The left side is the interface of the four-motor model. The interface of the four-motor model has an exit button, a left turn button, a right turn button, and a U-turn button. Figure 3 The right side is the interface of the three-motor model. For the three-motor model, a return button is added. The interface of the three-motor model has an exit button, a left turn button, a right turn button, a turn-around button, and a return button. For the application of the function keys in the interface, when the function is not operable, the button is gray; when the function is activated and operable, the button is green; when the function is in progress, the button is blue.

[0098] Figure 5 A remote terminal control interface diagram according to an exemplary embodiment is shown Figure 2 .like Figure 5 As shown, during a normal on-the-spot U-turn, release the on-the-spot U-turn button, and the on-the-spot U-turn button turns green. At this time, the vehicle side requests braking to stop. Optionally, you can press and hold the on-the-spot U-turn button again to continue the on-the-spot U-turn operation. Optionally, the direction of the on-the-spot U-turn can be switched after parking. If the conditions are met, the on-the-spot U-turn button turns green and the reverse direction can be operated. If the exit button is clicked after parking, the vehicle side requests to shift into P gear, and the remote control on-the-spot U-turn function exits and ends. Among them, when the on-the-spot U-turn is in progress, the steering button and the on-the-spot U-turn button corresponding to the operation interface are blue, and the four-wheel display drive torque direction. Enter the remote control on-the-spot U-turn operation interface through the mobile phone APP. After receiving the command, the vehicle side turns on the on-the-spot U-turn function and enters the standby state.

[0099] Figure 4 FIG. 1 is a flow chart of a remote control on-the-spot U-turn control for a four-motor vehicle according to an exemplary embodiment. Figure 4 As shown in the figure, the operation steps of remote control on-the-spot U-turn of four-motor vehicle include:

[0100] Step 10: Use the mobile APP to remotely control the U-turn on the spot;

[0101] Step 11: The vehicle control system receives the on-site U-turn instruction sent by the mobile phone APP;

[0102] Step 12: The vehicle control system starts the on-site U-turn function and enters the standby state;

[0103] Step 13: If the vehicle is in normal condition, turn the U-turn direction selection button green and activate it through the mobile APP;

[0104] Step 14: Select the direction of U-turn through the mobile APP, and the corresponding buttons for left or right turn are blue;

[0105] Step 15: After receiving the vehicle U-turn instruction sent by the mobile phone APP, the vehicle control system requests to shift into D gear;

[0106] Step 16: The vehicle control system detects whether the conditions for turning around in place are met, feeds back the vehicle status, and reports the vehicle status to the mobile phone APP;

[0107] Step 17: If the vehicle is in a normal state, the button for turning around on the spot will be green and activated; if it is abnormal, it will be grayed out and a prompt will be given in Chinese;

[0108] Step 18: After the mobile APP is activated, press and hold the U-turn button, the button turns blue, and a U-turn command is sent to the vehicle control system;

[0109] Step 19: The vehicle control system requests a fixed torque, and the vehicle starts to turn around on the spot;

[0110] Step 20: If the vehicle status is abnormal or does not meet the vehicle U-turn conditions, the function will exit and report the abnormal status to the mobile phone APP;

[0111] Step 21: If the vehicle status is abnormal or the conditions are not met, the U-turn button on the mobile app will be grayed out;

[0112] Step 22: If the vehicle is in an abnormal state or the conditions are not met, release the U-turn button, the button turns green, and a braking command is sent to the vehicle control system;

[0113] Step 23: The vehicle control system requests braking, and the vehicle stops;

[0114] Step 24: The vehicle control system feeds back the vehicle status to the mobile app;

[0115] Step 25. If you need to continue turning around, press the turn-around button on the mobile app again or exit the operation page;

[0116] Step 26: Continue a new round of on-the-spot U-turn operation or exit through the mobile app.

[0117] Figure 7 A remote terminal control interface diagram according to an exemplary embodiment is shown Figure 3 .like Figure 7As shown, for single-wheel braking, the left front wheel is braked when turning left, and the right front wheel is braked when turning right. After the U-turn button is activated, press and hold the U-turn button, the U-turn button turns blue, the vehicle requests the drive torque and releases the brake, and the vehicle starts to turn on the spot. After the function is activated, if an abnormality occurs or the conditions are not met, the function will exit, the U-turn button will turn gray, and return to the standby state. During a normal U-turn on the spot, release the button, the button will turn green, and the vehicle will request braking to stop. Optionally, you can press and hold the U-turn button again to continue the U-turn operation. Optionally, you can switch the U-turn direction after parking, and the U-turn button will turn green after the turning angle is in place, and you can operate in the opposite direction. If you click the exit button after parking, the vehicle will request to shift into P gear, and the remote control U-turn function will exit. Before exiting the function, you can click the return button and exit after the direction is returned to the correct position. When making a U-turn on the spot, the corresponding steering button and the U-turn button on the operation interface are turned blue, the four wheels display the driving torque direction, and the red wheels are braked wheels.

[0118] Among them, the remote control on-the-spot U-turn control receives the intelligent driving radar signal, and when it is judged that the distance to the obstacle is close, it will immediately exit the on-the-spot U-turn function. Unlike manned driving, the remote control on-the-spot U-turn entry condition does not determine the status of the primary and secondary seat belts. The gear position is requested by the vehicle controller VCU, and the steering wheel angle is requested by the VCU.

[0119] Figure 8 A remote terminal control interface diagram according to an exemplary embodiment is shown Figure 4 .like Figure 8 As shown, the handheld terminal can set a fixed steering angle. Taking the four-motor vehicle as an example, there is an angle setting window on the APP interface. Click it to rewrite any angle value, then choose to turn left or right (you can also select the direction first, then the angle value), click the "Start button" at the bottom, and when the conditions are met, start to make a U-turn on the spot at the preset angle until the vehicle stops after the preset angle is completed. Before the U-turn on the spot starts, when the conditions are met, the angle setting window is green and can be set. During the U-turn on the spot, the window is gray and cannot be changed; after the U-turn on the spot is completed, the angle value switches to 0° and returns to green. Before the U-turn on the spot starts, when the conditions are met, the "Start button" is green. During the U-turn on the spot, the button switches to the red "Stop button" until the U-turn on the spot is completed. It switches to the green "Start button". During the U-turn on the spot, you can click the "Pause button" to stop the U-turn on the spot. The vehicle stops and the button returns to the green "Start button" state. At the same time, the angle value in the angle setting window switches to 0°. You need to reset the angle before you can perform the next round of U-turn on the spot.

[0120] Figure 6 FIG. 1 is a flow chart of a remote control on-the-spot U-turn control for a three-motor vehicle according to an exemplary embodiment. Figure 6As shown in the figure, the operation steps of remote control U-turn on the spot of three-motor vehicle include:

[0121] Step 30: Enter the remote control on the mobile phone APP to make a U-turn on the spot;

[0122] Step 31: The vehicle control system receives the on-site U-turn instruction sent by the mobile phone APP;

[0123] Step 32: The vehicle control system starts the on-site U-turn function and enters the standby state;

[0124] Step 33: If the vehicle is in normal condition, turn the U-turn direction selection button green and activate it through the mobile phone APP;

[0125] Step 34: Select the direction of U-turn through the mobile phone APP, and the corresponding button for left or right turn is blue;

[0126] Step 35: After receiving the vehicle U-turn instruction sent by the mobile phone APP, the vehicle control system requests to shift into D gear, turn left or right to the set maximum turning angle, and brake the left or right wheel;

[0127] Step 36: The vehicle control system detects whether the conditions for turning around in place are met, feeds back the vehicle status, and reports the vehicle status to the mobile phone APP;

[0128] Step 37: If the vehicle is in a normal state, the button for turning around on the spot is set to green and activated; if it is abnormal, it is set to gray and a prompt is given in Chinese;

[0129] Step 38: After the mobile phone APP is activated, press and hold the U-turn button, the button turns blue, and a U-turn instruction is sent to the vehicle control system;

[0130] Step 39: The vehicle control system requests a fixed torque, and the vehicle starts to turn around on the spot;

[0131] Step 40: If the vehicle status is abnormal or does not meet the vehicle U-turn conditions, the function will exit and report the abnormal status to the mobile phone APP;

[0132] Step 41: If the vehicle status is abnormal or the conditions are not met, the button for turning around on the spot on the mobile app is grayed out;

[0133] Step 42: If the vehicle is in an abnormal state or the conditions are not met, the U-turn button is released, the button turns green, and a braking command is sent to the vehicle control system;

[0134] Step 43: The vehicle control system requests braking, and the vehicle stops;

[0135] Step 44, the vehicle control system feeds back the vehicle status to the mobile app;

[0136] Step 45: If you need to continue turning around, press the turn-around button on the mobile app again or select return to normal and exit the operation page;

[0137] Step 46: Continue a new round of on-the-spot U-turn operation or exit through the mobile app.

[0138] Figure 7 A remote terminal control interface diagram according to an exemplary embodiment is shown Figure 3 .like Figure 7 As shown, after entering the standby state, the direction selection button on the operation interface is activated green, and you can choose to turn left or right. After selection, the corresponding button is blue; after the vehicle receives the steering command, it requests to shift into D gear and apply single-wheel braking, and at the same time requests to turn to the set angle (generally the maximum steering angle, which can be calibrated), and detects whether the vehicle speed (less than 3km / h, which can be calibrated), slope (less than 3%, which can be calibrated), driving mode is pure electric or extended-range pure electric state and other conditions are met. If the conditions are met, the vehicle enters the ready state, and the on-the-spot U-turn button is activated green. If the conditions are not met, the button remains gray, and a classical Chinese reminder "The on-the-spot U-turn conditions are not met" pops up, and the vehicle returns to the standby state.

[0139] like Figure 7 As shown, for single-wheel braking, the left front wheel is braked when turning left, and the right front wheel is braked when turning right.

[0140] After the U-turn on the spot is activated, press and hold the button, the button turns blue, the vehicle requests the drive torque and releases the brake, and the vehicle starts to turn on the spot. After the function is activated, if an abnormality occurs or the conditions are not met, the function will exit, the U-turn on the spot function will be grayed out, and it will return to the standby state.

[0141] When making a normal U-turn on the spot, release the button and the button turns green, and the vehicle requests to brake and stop. Optionally, you can press the U-turn button again to continue the U-turn operation; Optionally, you can switch the direction of the U-turn on the spot after parking, and the U-turn button turns green after the turning angle is in place, and you can operate in the opposite direction. If you click the exit button after parking, the vehicle requests to shift into P gear, and the remote control U-turn on the spot function is exited. Before exiting the function, you can click the return button and exit after the direction is returned to the correct direction.

[0142] When turning on the spot, the steering button and the turning button on the operation interface are blue, and the four wheels display the driving torque direction. The red wheels are the brake locked wheels. Figure 7 shown.

[0143] The remote control U-turn on the spot control receives the intelligent driving radar signal. When it is determined that the distance to the obstacle is close, the U-turn on the spot function is immediately exited.

[0144] Unlike manned driving, the conditions for remote-controlled U-turn on the spot do not determine the status of the primary and secondary seat belts. The gear position is requested by the vehicle controller VCU, and the steering wheel angle is requested by the VCU.

[0145] In an extensible way, the handheld terminal can set a fixed steering angle. Taking a four-motor vehicle as an example, Figure 7 As shown, the APP interface has an angle setting window. Click it to rewrite any angle value, then choose to turn left or right (you can also select the direction first, then the angle value), click the "Start button" at the bottom, and when the conditions are met, start to make a U-turn at the preset angle until the vehicle stops after the preset angle is completed. Before the U-turn starts, if the conditions are met, the angle setting window is green and can be set. During the U-turn, the window is gray and cannot be changed. After the U-turn is completed, the angle value switches to 0° and returns to green. Before the U-turn starts, if the conditions are met, the "Start button" is green. During the U-turn, the button switches to the red "Stop button" until the U-turn is completed. It switches to the green "Start button". During the U-turn, you can click the "Pause button" to stop the U-turn. The vehicle stops and the button returns to the green "Start button" state. At the same time, the angle value in the angle setting window switches to 0°. You need to reset the angle before you can perform the next round of U-turn. Three-motor models can use similar operating methods as above to make U-turns at any angle.

[0146] In some embodiments, performing a vehicle U-turn according to the U-turn mode indicated in the vehicle U-turn instruction includes:

[0147] After determining that the current state of the vehicle satisfies the vehicle U-turn condition, continuously receiving the vehicle U-turn signal sent by the remote terminal to the vehicle control system;

[0148] According to the continuously received vehicle U-turn signal and the U-turn mode of the vehicle indicated in the vehicle U-turn instruction, the driving motor controls the vehicle to turn around; wherein, when the vehicle U-turn signal is interrupted, the vehicle U-turn action is stopped.

[0149] In this exemplary embodiment, Figure 8 A remote terminal control interface diagram according to an exemplary embodiment is shown Figure 4 .like Figure 8 As shown in the figure, during the vehicle U-turn process, the remote terminal will continuously send the vehicle U-turn signal to the vehicle control system. The operation at the remote terminal is:

[0150] Before the U-turn on the spot begins, the U-turn conditions are met and the "Start Button" is green. During the U-turn on the spot, the button switches to a red "Stop Button" and does not switch to a green "Start Button" until the U-turn on the spot is completed. During the U-turn on the spot, you can click the "Pause Button" to stop the U-turn on the spot. The vehicle stops and the button returns to the green "Start Button" state. At the same time, the angle value in the angle setting window switches to 0°. You need to reset the angle before you can perform the next round of U-turn on the spot. Among them, when the remote terminal interrupts the sending of the vehicle U-turn signal, the vehicle stops turning. When the remote terminal resumes sending the vehicle U-turn signal, the vehicle continues to turn around.

[0151] In some embodiments, performing a vehicle U-turn according to the U-turn mode indicated in the vehicle U-turn instruction includes:

[0152] determining the torque of each wheel of the vehicle according to the U-turn mode of the vehicle indicated in the vehicle U-turn instruction;

[0153] The vehicle is turned according to the torque of each wheel of the vehicle.

[0154] In this exemplary embodiment, during the vehicle U-turn, the torque of each wheel is not fixed, but adjusted in real time. During the vehicle U-turn, the torque of the wheel generally changes as follows:

[0155] When the vehicle starts, the wheel torque is large due to the large resistance; the torque gradually stabilizes after the vehicle speed stabilizes; and finally, when the vehicle stops, the torque gradually drops to 0. When the vehicle performs a second U-turn, the above torque change process is carried out in sequence.

[0156] In some embodiments, performing a vehicle U-turn according to the U-turn mode indicated in the vehicle U-turn instruction includes:

[0157] During the vehicle U-turn process, if the vehicle U-turn signal is interrupted, updating the torque of each wheel of the vehicle;

[0158] After the vehicle U-turn signal is received again, the vehicle is controlled to continue the vehicle U-turn action with the updated torque of each wheel.

[0159] In this exemplary embodiment, the wheel torque changes dynamically during a vehicle U-turn. For example, when the vehicle starts, the wheel torque is large due to the large resistance; the torque gradually stabilizes after the vehicle speed stabilizes; and finally, the torque gradually drops to 0 when the vehicle stops. Therefore, when the vehicle starts to turn for the second time, its torque must be readjusted. After the vehicle U-turn signal is received again, the vehicle continues to turn the vehicle with the updated torque of each wheel.

[0160] In some embodiments, performing a vehicle U-turn according to the U-turn mode indicated in the vehicle U-turn instruction includes:

[0161] If the vehicle makes a U-turn by three motors, the VCU controls the gear shift to the forward gear, the steering module controls the steering gear to the set value, and the brake module controls the single wheel braking;

[0162] The vehicle is controlled to make a U-turn with the forward gear, the steering gear turned to the set value and the single wheel braked.

[0163] In this exemplary embodiment, for the three-motor driven U-turn mode, the three-motor front wheels can be steered at the maximum front wheel inclination angle to minimize the turning radius. The steering gear can be used to steer to the set value, and the single-wheel brake can be used to control the vehicle to turn in the forward gear. When turning in place, the corresponding steering button and the U-turn button on the operation interface are blue, and the four wheels display the driving torque direction. The red wheel is the brake locked wheel, such as Figure 7 As shown. The remote control on-the-spot U-turn control receives the intelligent driving radar signal, and when it is judged that the distance to the obstacle is close, it immediately exits the on-the-spot U-turn function. Unlike manned driving, the remote control on-the-spot U-turn entry conditions do not judge the status of the primary and secondary seat belts. The gear position is requested by the vehicle controller VCU, and the steering wheel angle is requested by the VCU. During the vehicle's on-the-spot U-turn, it can stop at any time when encountering an emergency, which is conducive to improving the safety of the vehicle's U-turn.

[0164] The present disclosure provides a vehicle U-turn control device. Fig. 9 FIG. 1 is a schematic diagram of a vehicle U-turn control device according to an exemplary embodiment. Fig. 9 As shown, the vehicle U-turn control device comprises:

[0165] A U-turn mode determination module 80, configured to send the vehicle type of the vehicle to be turned to a remote terminal at a predetermined distance, so that the remote terminal can determine a U-turn mode for controlling the vehicle to turn based on the vehicle type;

[0166] The instruction sending module 81 is used to receive a vehicle U-turn instruction sent by a remote terminal outside a predetermined distance to the vehicle control system; wherein the vehicle U-turn instruction includes a U-turn method indicating the U-turn of the vehicle;

[0167] The vehicle control module 82 is used to control the vehicle to perform a U-turn action corresponding to the U-turn method indicated in the vehicle U-turn instruction according to the vehicle U-turn instruction, when it is determined that the current state of the vehicle meets the vehicle U-turn conditions.

[0168] It can be understood that the vehicle U-turn control device of the present application can refer to the vehicle U-turn control method described above.

[0169] The present disclosure provides a vehicle U-turn control system, comprising:

[0170] A remote terminal is used to send a vehicle U-turn instruction to a vehicle control system; wherein the vehicle U-turn instruction includes a U-turn method for instructing the vehicle to turn around;

[0171] The vehicle control system is communicatively connected to the remote terminal, and is used for sending the vehicle type of the vehicle to be turned to the remote terminal outside a predetermined distance, so that the remote terminal can determine the turning method of controlling the vehicle to turn around based on the vehicle type; and after receiving the vehicle turning instruction sent by the remote terminal outside the predetermined distance to the vehicle control system, according to the vehicle turning instruction, when it is judged that the current state of the vehicle satisfies the vehicle turning conditions, according to the turning method of the vehicle indicated in the vehicle turning instruction, the vehicle is controlled to perform a turning action corresponding to the turning method to turn the vehicle around.

[0172] In some embodiments, including:

[0173] An on-board communication module, communicatively connected to the remote terminal and the vehicle control system;

[0174] The vehicle-mounted communication module is used to receive the vehicle U-turn instruction sent by the remote terminal to the vehicle control system, and forward the vehicle U-turn instruction to the vehicle control system.

[0175] It can be understood that the vehicle U-turn control system of the present application can refer to the vehicle U-turn control method described above.

[0176] The present disclosure provides a computer-readable storage medium on which a vehicle U-turn control program is stored. When the vehicle U-turn control program is executed by a processor, the vehicle U-turn control method described in the above embodiments is implemented.

[0177] The present disclosure provides a vehicle control system, including a memory, a processor, and a vehicle U-turn control program stored in the memory and executable on the processor. When the processor executes the vehicle U-turn control program, the vehicle U-turn control method described in the above embodiments is implemented.

[0178] 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 of computer-readable media (a non-exhaustive list) 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 storing it in a computer memory.

[0179] It should be understood that the various parts of the present disclosure can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in 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.

[0180] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", 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 disclosure. 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.

[0181] In the description of the present disclosure, it should 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" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure 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 a limitation on the present disclosure.

[0182] In addition, the terms "first", "second", etc. used in the embodiments of the present disclosure 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 embodiments. Therefore, the features defined by the terms "first", "second", etc. in the embodiments of the present disclosure may explicitly or implicitly indicate that at least one of the features is included in the embodiment. In the description of the present disclosure, 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.

[0183] In the present disclosure, unless otherwise clearly specified or limited in the embodiments, the terms "installed", "connected", "connected" and "fixed" etc. appearing 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 disclosure can be understood according to the specific implementation situation.

[0184] In the present disclosure, 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.

[0185] Although the embodiments of the present disclosure 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 disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

Claims

1. A vehicle U-turn control method, characterized in that: include: Sending a vehicle type of a vehicle to be turned to a remote terminal at a predetermined distance, so that the remote terminal can determine a turning method for controlling the vehicle to turn based on the vehicle type; Receiving a vehicle U-turn instruction sent by a remote terminal at a predetermined distance to a vehicle control system; wherein the vehicle U-turn instruction includes a U-turn method for instructing the vehicle to turn around; According to the vehicle U-turn instruction, when it is determined that the current state of the vehicle satisfies the vehicle U-turn condition, the vehicle is controlled to perform a U-turn action corresponding to the U-turn method according to the U-turn method of the vehicle indicated in the vehicle U-turn instruction to perform a U-turn.

2. The vehicle U-turn control method according to claim 1, characterized in that: The vehicle U-turn instruction sent by the remote terminal to the vehicle control system is generated based on the U-turn mode of the vehicle and the current vehicle state of the vehicle; wherein the U-turn mode of the vehicle corresponds to the operation flow corresponding to different vehicle states during the U-turn operation of the vehicle; According to the U-turn mode of the vehicle indicated in the vehicle U-turn instruction, controlling the vehicle to perform a U-turn action corresponding to the U-turn mode to perform the vehicle U-turn, including: Based on the vehicle U-turn instruction, combined with the vehicle U-turn mode and the current vehicle state of the vehicle, a U-turn action of an operation flow corresponding to the current vehicle state is executed.

3. The vehicle U-turn control method according to claim 2, characterized in that: The remote terminal has an operation interface; the operation interface has an operation button for controlling the vehicle to turn around; While controlling the vehicle to perform a U-turn action corresponding to the U-turn mode to perform a U-turn of the vehicle, the method includes: The current vehicle state of the vehicle is fed back to the remote terminal in real time, so that the remote terminal can adjust the display color of the operation buttons in the operation interface based on the current vehicle state of the vehicle; wherein the display color of the operation buttons represents the degree of action execution when the vehicle performs a U-turn.

4. The vehicle U-turn control method according to claim 2, characterized in that: The current vehicle state when the vehicle turns around includes a vehicle turning around preparation state, a vehicle turning around state, and a vehicle turning around completion state; The performing a U-turn action of an operation flow corresponding to the current state of the vehicle based on the vehicle U-turn instruction, in combination with the vehicle U-turn mode and the current state of the vehicle, comprises: If the vehicle is in the vehicle U-turn preparation state, determining whether the vehicle meets the vehicle U-turn condition; If the vehicle meets the vehicle U-turn condition, based on the first operation instruction issued by the remote terminal, the vehicle is caused to perform relevant operations for preparing for a U-turn of the vehicle, so as to complete the vehicle U-turn preparation state; wherein the first operation instruction is generated by triggering a first button in the remote terminal associated with the vehicle U-turn preparation state; If the vehicle is in the vehicle U-turn state, based on the second operation instruction issued by the remote terminal, the vehicle performs relevant operations of the vehicle U-turn to complete the vehicle U-turn; wherein, the second operation instruction is generated by triggering a second button in the remote terminal associated with the vehicle U-turn preparation state; the first operation instruction and the second operation instruction are both the vehicle U-turn instructions; the first button may be different from the second button.

5. The vehicle U-turn control method according to claim 4, characterized in that: The first buttons include a left turn button, a right turn button, and a turn-around button; the second buttons include a turn-around button, a return button, and an exit button; If the vehicle meets the vehicle U-turn condition, based on the first operation instruction sent by the remote terminal, the vehicle is caused to perform relevant operations for preparing for a U-turn of the vehicle to complete the vehicle U-turn preparation state, including: If the vehicle meets the vehicle U-turn condition, then based on the vehicle U-turn direction indicated by the first operation instruction, the wheel angle of the vehicle is adjusted so that the vehicle completes the vehicle U-turn preparation state; wherein the first operation instruction is triggered by the left turn button or the right turn button of the remote terminal; If the vehicle is in the vehicle U-turn state, based on the second operation instruction sent by the remote terminal, the vehicle is caused to perform relevant operations of the vehicle U-turn to complete the vehicle U-turn, including: If the vehicle completes the vehicle turn preparation state, the vehicle electric drive module is controlled to output torque based on the second operation instruction, so that the vehicle performs a vehicle turn action to complete the vehicle turn; wherein, the second operation instruction is generated by triggering the on-site turn button of the remote terminal.

6. The vehicle U-turn control method according to claim 3, characterized in that: The real-time feedback of the current vehicle state of the vehicle to the remote terminal, so that the remote terminal can adjust the display color of the operation buttons in the operation interface based on the current vehicle state of the vehicle, includes: When the accurate state of the vehicle completing the U-turn is fed back, the remote terminal activates the remote terminal's U-turn button from gray to green based on the vehicle's U-turn preparation state; When the vehicle is in a U-turn state, the remote terminal changes the on-the-spot U-turn button of the remote terminal from green to blue based on the vehicle being in a U-turn state, and changes the on-the-spot U-turn button from blue to green when the U-turn action stops.

7. The vehicle U-turn control method according to any one of claims 1 to 6, characterized in that: The current state of the vehicle satisfies the vehicle U-turn condition, including: The vehicle is in normal operation and the gear is in the forward gear; The normal running state of the vehicle includes the high voltage on the vehicle, the normal braking system, the normal steering system, the normal motor system, the normal state of the four doors and two covers, and the normal motor temperature; the U-turn mode for instructing the vehicle to turn around includes: three-motor driven U-turn and four-motor driven U-turn; The three-motor driven U-turn is to brake one wheel through the motor and drive three wheels to make a U-turn at the same time; The four-motor driven U-turn is to make a U-turn of the vehicle by using the motors to drive the four wheels.

8. A vehicle U-turn control device, characterized in that: include: A U-turn mode determination module, used for sending the vehicle type of the vehicle to be turned to a remote terminal outside a predetermined distance, so that the remote terminal can determine the U-turn mode for controlling the U-turn of the vehicle based on the vehicle type; An instruction sending module, used for receiving a vehicle U-turn instruction sent by a remote terminal outside a predetermined distance to a vehicle control system; wherein the vehicle U-turn instruction includes a U-turn mode indicating the U-turn of the vehicle; The vehicle control module is used to control the vehicle to perform a U-turn action corresponding to the U-turn method indicated in the vehicle U-turn instruction according to the vehicle U-turn instruction, when it is determined that the current state of the vehicle meets the vehicle U-turn conditions.

9. A vehicle U-turn control system, characterized in that: include: A remote terminal is used to send a vehicle U-turn instruction to a vehicle control system; wherein the vehicle U-turn instruction includes a U-turn method for instructing the vehicle to turn around; The vehicle control system is communicatively connected to the remote terminal, and is used for sending the vehicle type of the vehicle to be turned to the remote terminal outside a predetermined distance, so that the remote terminal can determine the turning method of controlling the vehicle to turn around based on the vehicle type; and after receiving the vehicle turning instruction sent by the remote terminal outside the predetermined distance to the vehicle control system, according to the vehicle turning instruction, when it is judged that the current state of the vehicle satisfies the vehicle turning conditions, according to the turning method of the vehicle indicated in the vehicle turning instruction, the vehicle is controlled to perform a turning action corresponding to the turning method to turn the vehicle around.

10. The vehicle U-turn control system according to claim 9, characterized in that: include: An on-board communication module, communicatively connected to the remote terminal and the vehicle control system; The vehicle-mounted communication module is used to receive the vehicle U-turn instruction sent by the remote terminal to the vehicle control system, and forward the vehicle U-turn instruction to the vehicle control system.

11. A computer-readable storage medium, characterized in that: A vehicle U-turn control program is stored thereon, and when the vehicle U-turn control program is executed by the processor, the vehicle U-turn control method according to any one of claims 1 to 7 is implemented.

12. A vehicle control system, characterized in that: The invention comprises a memory, a processor and a vehicle U-turn control program stored in the memory and executable on the processor. When the processor executes the vehicle U-turn control program, the vehicle U-turn control method according to any one of claims 1 to 7 is implemented.

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