Control method, device and equipment for pivot steering of vehicle and medium

Abstract

The invention provides a vehicle pivot steering control method and device, equipment and a medium. The method comprises the steps that the target rotation angle of vehicle pivot steering and information of a target locking wheel are obtained; an instruction for locking the target locking wheel is sent to a braking system; determining a target wheel center speed of each driving wheel except the target locking wheel when the target locking wheel is used as a rotating point and the driving wheels rotate according to the target rotating angle; based on the deviation between the target wheel center speed of each driving wheel and the current actual wheel center speed, the current driving torque of each driving wheel is determined; and sending a driving instruction to a driving motor of each driving wheel, wherein the driving instruction carries the corresponding current driving torque. According to the method, the current driving torque of each driving wheel can be gradually changed along with the deviation between the target wheel center speed and the current actual wheel center speed, smooth steering is facilitated, and therefore the in-situ steering stability of the vehicle can be improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle control, and in particular relates to a control method, device, equipment and medium for vehicle on-site steering. Background Art

[0002] Controlling the vehicle's on-the-spot steering around the brake wheel can achieve convenient side parking and U-turns in special scenarios. Related technology, two-motor drive based on front-wheel steering assist can achieve on-the-spot steering, but since the torque of each wheel cannot be controlled independently and is limited by the total torque of the motor, the success rate of on-the-spot steering on high-adhesion roads is low. In the case of a vehicle with three or four motors, the torque of a single wheel can be controlled, thereby increasing the success rate of the vehicle's on-the-spot steering. However, how to control the torque of a single wheel to improve the stability of the vehicle's on-the-spot steering is a problem to be solved. Summary of the invention

[0003] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a control method, device, equipment and medium for vehicle on-the-spot steering, so as to solve the above-mentioned problems.

[0004] The control method for vehicle on-site steering provided by the present invention comprises:

[0005] Obtain the target rotation angle and target locked wheel information of the vehicle's on-the-spot steering;

[0006] sending a command to the braking system to lock the target locked wheel;

[0007] determining a target wheel center speed of each driving wheel except the target locked wheel when the target locked wheel is rotated according to the target rotation angle with the target locked wheel as the rotation point;

[0008] determining a current driving torque of each driving wheel based on a deviation between a target wheel center speed of each driving wheel and a current actual wheel center speed;

[0009] A driving instruction is sent to the driving motor of each driving wheel, wherein the driving instruction carries the corresponding current driving torque.

[0010] Optionally, the determining of a target wheel center speed of each driving wheel except the target locking wheel when the target locking wheel is used as a rotation point and rotates according to the target rotation angle includes:

[0011] Based on a preset yaw angular velocity, a target wheel center velocity of each driving wheel except the target locking wheel when the target locking wheel is rotated according to the target rotation angle with the target locking wheel as a rotation point is determined.

[0012] Optionally, determining the current driving torque of each driving wheel based on the deviation between the target wheel center speed of each driving wheel and the current actual wheel center speed includes:

[0013] Based on the deviation between the target wheel center speed of each driving wheel and the current actual wheel center speed, the current driving torque of each driving wheel is determined through PID control.

[0014] Optionally, after sending the driving instruction to the driving motor of each driving wheel, the method further includes:

[0015] determining a current rotation angle of the vehicle;

[0016] When the current rotation angle of the vehicle is equal to the target rotation angle, the stationary steering is exited, and the exiting the stationary steering includes gradually clearing the current driving torque of each driving wheel.

[0017] Optionally, the sending an instruction to the braking system to lock the target locked wheel includes:

[0018] Determining a motion trajectory of the vehicle based on the target rotation angle and information of the target locked wheel;

[0019] Determining a first minimum distance between the vehicle and surrounding obstacles in the motion trajectory;

[0020] When the first minimum distance is greater than a preset threshold, an instruction to lock the target locking wheel is sent to the braking system.

[0021] Optionally, after sending the driving instruction to the driving motor of each driving wheel, the method further includes:

[0022] Determining a second minimum distance between the vehicle and surrounding obstacles during the process of turning on the spot;

[0023] When the second minimum distance is less than or equal to a preset threshold, the stationary steering is exited, and the exiting the stationary steering includes gradually clearing the current driving torque of each driving wheel.

[0024] Optionally, the step of obtaining information of a target rotation angle and a target locked wheel for the vehicle to turn in situ includes:

[0025] Receive assisted parking instructions;

[0026] Based on the current position of the vehicle and the position of the target parking space, sending information of a suggested rotation angle and a suggested locked wheel;

[0027] Receive the target rotation angle and the target locked wheel information input by a user.

[0028] The control device for vehicle in-situ steering provided by the present invention comprises:

[0029] An acquisition module is used to acquire information of a target rotation angle and a target locked wheel of the vehicle for turning on the spot;

[0030] A first sending module, used for sending an instruction to lock the target locking wheel to the braking system;

[0031] A first determination module is used to determine a target wheel center speed of each driving wheel except the target locking wheel when the target locking wheel is rotated according to the target rotation angle with the target locking wheel as the rotation point;

[0032] a second determination module, configured to determine a current driving torque of each driving wheel based on a deviation between a target wheel center speed of each driving wheel and a current actual wheel center speed;

[0033] The second sending module is used to send a driving instruction to the driving motor of each driving wheel, and the driving instruction carries the corresponding current driving torque.

[0034] Optionally, the first determining module is specifically configured to:

[0035] Based on a preset yaw angular velocity, a target wheel center velocity of each driving wheel except the target locking wheel when the target locking wheel is rotated according to the target rotation angle with the target locking wheel as a rotation point is determined.

[0036] Optionally, the second determining module is specifically configured to:

[0037] Based on the deviation between the target wheel center speed of each driving wheel and the current actual wheel center speed, the current driving torque of each driving wheel is determined through PID control.

[0038] Optionally, the device further comprises:

[0039] A third determination module, used to determine a current rotation angle of the vehicle;

[0040] The function exit module is used to exit the on-the-spot steering when the current rotation angle of the vehicle is equal to the target rotation angle, and the exit from the on-the-spot steering includes gradually clearing the current driving torque of each driving wheel.

[0041] Optionally, the first sending module includes:

[0042] A first determining unit, configured to determine a motion trajectory of the vehicle based on the target rotation angle and information of the target locked wheel;

[0043] A second determining unit, configured to determine a first minimum distance between the vehicle and surrounding obstacles in the motion trajectory;

[0044] The first sending unit is used to send an instruction to lock the target locking wheel to the braking system when the first minimum distance is greater than a preset threshold.

[0045] Optionally, the device further comprises:

[0046] a fourth determination module, configured to determine a second minimum distance between the vehicle and surrounding obstacles during the process of turning in situ;

[0047] The function exit module is used to exit the on-the-spot steering when the second minimum distance is less than or equal to a preset threshold value, and the exit from the on-the-spot steering includes gradually clearing the current driving torque of each driving wheel.

[0048] Optionally, the acquisition module includes:

[0049] A first receiving unit, configured to receive an assisted parking instruction;

[0050] A second sending unit is used to send information of a recommended rotation angle and a recommended locked wheel based on the current position of the vehicle and the position of the target parking space;

[0051] The second receiving unit is used to receive the target rotation angle and the target locked wheel information input by the user.

[0052] The electronic device provided by the present invention comprises:

[0053] one or more processors;

[0054] The storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the electronic device implements the control method for vehicle turning on the spot.

[0055] The computer-readable storage medium provided by the present invention stores a computer program thereon. When the computer program is executed by a processor of a computer, the computer is enabled to execute the control method for turning the vehicle on the spot.

[0056] Beneficial effects of the present technical solution: The present technical solution determines the target wheel center speed of each driving wheel, and determines the current driving torque of each driving wheel based on the deviation between the target wheel center speed of each driving wheel and the current actual wheel center speed. This enables the current driving torque of each driving wheel to gradually change with the deviation between the target wheel center speed and the current actual wheel center speed, which is conducive to smooth steering, thereby improving the stability of the vehicle's on-the-spot steering.

[0057] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present invention, and together with the specification, are used to explain the principles of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0059] Figure 1 is one of the flow charts of a method for controlling vehicle turning in situ, shown in an exemplary embodiment of the present invention;

[0060] Figure 2 is a second flowchart of a method for controlling vehicle turning in situ, shown in an exemplary embodiment of the present invention;

[0061] Figure 3 is a structural diagram of a control system for vehicle on-site steering shown in an exemplary embodiment of the present invention;

[0062] Figure 4 It is a schematic diagram of a parallel parking scenario shown in an exemplary embodiment of the present invention.

[0063] Figure 5 is a block diagram of a control device for turning on the spot of a vehicle shown in an exemplary embodiment of the present invention;

[0064] Figure 6 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0065] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0066] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0067] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0068] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of a method for controlling vehicle turning in situ, shown in an exemplary embodiment of the present invention. Figure 1 As shown, in an exemplary embodiment, the control method for turning in situ of a vehicle includes steps S110 to S150, which are described in detail as follows:

[0069] Step S110, obtaining information of a target rotation angle and a target locked wheel for the vehicle to turn in situ;

[0070] Step S120, sending an instruction to the braking system to lock the target locked wheel;

[0071] Step S130, determining a target wheel center speed of each driving wheel except the target locking wheel when the target locking wheel is rotated according to the target rotation angle with the target locking wheel as the rotation point;

[0072] Step S140, determining the current driving torque of each driving wheel based on the deviation between the target wheel center speed of each driving wheel and the current actual wheel center speed;

[0073] Step S150: sending a driving instruction to the driving motor of each driving wheel, wherein the driving instruction carries the corresponding current driving torque.

[0074] In an embodiment of the present invention, the driving wheel refers to the wheel on the vehicle other than the target locked wheel, and the current driving torque of each driving wheel can be a positive value, a negative value or a zero value. The target wheel center speed of the driving wheel is the moving speed of the wheel center of the driving wheel relative to the ground. Based on the motion law of a rigid body rotating around a fixed point (around the target locked wheel), there is a certain relationship between the target wheel center speeds of the above-mentioned driving wheels, that is, the target wheel center speeds of the coaxial driving wheels are in opposite directions, and the target wheel center speeds of the driving wheels on the same side are in the same direction. Based on the relationship between the target wheel center speeds between the above-mentioned driving wheels and the target rotation angle (including the direction of the target rotation angle), the target wheel center speed of each driving wheel can be further determined. The direction of the above-mentioned target rotation angle includes a clockwise rotation direction and a counterclockwise rotation direction.

[0075] The embodiments of the present invention can be applied to vehicles driven by three motors and vehicles driven by four motors. In the case of a vehicle driven by three motors, for example, when the first motor controls the left front wheel and the right front wheel, and the second motor and the third motor respectively control the left rear wheel and the right rear wheel, the target locked wheel can be the left front wheel or the right front wheel; when the first motor and the second motor respectively control the left front wheel and the right front wheel, and the third motor controls the left rear wheel and the right rear wheel, the target locked wheel can be the left rear wheel or the right rear wheel. In the case of a vehicle driven by four motors, the target locked wheel can be any wheel.

[0076] In step S140, the current driving torque of each driving wheel is determined based on the deviation between the target wheel center speed of each driving wheel and the current actual wheel center speed. It can be seen that in the embodiment of the present invention, the current driving torque of each driving wheel is constantly changing until there is no deviation or a very small deviation between the target wheel center speed of the driving wheel and the current wheel center speed.

[0077] Before executing the above step S150, it may be determined that the target locked wheel is already in a locked state.

[0078] In step S150, a driving instruction is sent to the driving motor of each driving wheel, and the instruction carries the corresponding current driving torque. For example, a driving instruction is sent to the first driving motor of the first driving wheel, and the driving instruction carries the current driving torque of the first driving wheel. The driving motor performs driving control based on the constantly changing current driving torque, which is conducive to improving the smoothness of the driving compared to abruptly increasing the speed of the driving wheel to the target wheel center speed.

[0079] In the embodiment of the present invention, by determining the target wheel center speed of each driving wheel and determining the current driving torque of each driving wheel based on the deviation between the target wheel center speed of each driving wheel and the current actual wheel center speed, the current driving torque of each driving wheel can be gradually changed with the deviation between the target wheel center speed and the current actual wheel center speed, which is conducive to smooth steering, thereby improving the stability of the vehicle's on-the-spot steering.

[0080] Optionally, the determining of a target wheel center speed of each driving wheel except the target locking wheel when the target locking wheel is used as a rotation point and rotates according to the target rotation angle includes:

[0081] Based on a preset yaw angular velocity, a target wheel center velocity of each driving wheel except the target locking wheel when the target locking wheel is rotated according to the target rotation angle with the target locking wheel as a rotation point is determined.

[0082] In order to more clearly understand the technical solution of the embodiment of the present invention, an exemplary description is given below on how to determine the target wheel center speed of each driving wheel based on a preset yaw angular velocity.

[0083] Based on the motion law of a rigid body rotating around a fixed point, after determining the fixed point (i.e. the target locked wheel), the relationship between the target wheel center speeds between the drive wheels can be determined:

[0084]

[0085] Among them, V1 represents the target wheel center speed of the first driving wheel (the first driving wheel represents the wheel coaxial with the target locking wheel); V2 represents the target wheel center speed of the second driving wheel (the second driving wheel represents the wheel on the same side as the first driving wheel); a represents the distance from the vehicle's center of mass to the rear axle; b represents the distance from the vehicle's center of mass to the front axle; C represents the wheel width between the target locking wheel and the first driving wheel. For example, when the target locking wheel is the left front wheel, V1 is the target wheel center speed of the right front wheel, V2 is the target wheel center speed of the right rear wheel, and C represents the front wheel width.

[0086] The above sinθ:

[0087]

[0088] Combining the above two formulas, the relationship between the first driving wheel and the second driving wheel is:

[0089]

[0090] According to the relationship that the sum of the longitudinal wheel center velocity vectors is zero, the target wheel center velocity of the third driving wheel is derived as follows:

[0091]

[0092] Set the preset yaw angular velocity ω, then the target wheel center velocity of the first driving wheel is V1 = ω·C, and the target wheel center velocity of the second driving wheel is The target wheel center speed of the third driving wheel is

[0093] It is worth mentioning that the above target wheel center speed is positive, indicating that the driving wheel rotates forward; the target wheel center speed is negative, indicating that the driving wheel rotates backward. The forward rotation direction is consistent with the rotation direction of each wheel when the vehicle is moving forward, and the backward rotation direction is consistent with the rotation direction of each wheel when the vehicle is moving backward.

[0094] In the following, the target locked wheel, the target rotation angle and the rotation direction of each driving wheel are described in combination with a specific parking scenario.

[0095] When the parking space is on the left side of the vehicle, the front of the vehicle has entered the parking space, and at least part of the rear of the vehicle has not entered the parking space, the vehicle needs to rotate clockwise on the spot to enter the parking space, and the direction of the target rotation angle is the clockwise rotation direction. Assuming that the target locked wheel is the right front wheel, in this scenario, V1 represents the target wheel center speed of the left front wheel, V2 represents the target wheel center speed of the left rear wheel, and V3 represents the target wheel center speed of the right rear wheel. V1 and V2 are positive, that is, the left front wheel and the left rear wheel turn forward; V3 is negative, that is, the right rear wheel turns backward.

[0096] When the parking space is on the right side of the vehicle, the front of the vehicle has entered the parking space, and at least part of the rear of the vehicle has not entered the parking space, the vehicle needs to rotate counterclockwise on the spot to enter the parking space, and the direction of the target rotation angle is counterclockwise. Assuming that the target locked wheel is the left front wheel, in this scenario, V1 represents the target wheel center speed of the right front wheel, V2 represents the target wheel center speed of the right rear wheel, and V3 represents the target wheel center speed of the left rear wheel. V1 and V2 are positive, that is, the right front wheel and the right rear wheel turn forward; V3 is negative, that is, the left rear wheel turns backward.

[0097] Through the above-mentioned relevant formulas, based on the preset yaw angular velocity, the target wheel center speed of each driving wheel when the target locked wheel is used as the rotation point and rotates according to the target rotation angle can be determined, and the current driving torque is determined based on the deviation between the target wheel center speed of each driving wheel and the actual wheel center speed. Control is performed based on the current driving torque, which can reduce the deviation between the actual yaw angular velocity of the vehicle and the preset yaw angular velocity, so that the rotation speed of the vehicle around the target locked wheel meets expectations.

[0098] Alternatively, see Figure 2 , determining the current driving torque of each driving wheel based on the deviation between the target wheel center speed of each driving wheel and the current actual wheel center speed, comprises:

[0099] Based on the deviation between the target wheel center speed of each driving wheel and the current actual wheel center speed, the current driving torque of each driving wheel is determined through PID (proportional-integral-derivative) control.

[0100] The relevant formula for PID control is as follows:

[0101]

[0102] Δv represents the deviation between the target wheel center speed of the driving wheel and the current actual wheel center speed; k p represents the proportional gain, which is used to quickly respond to errors; k i Represents the integral gain, which is used to eliminate steady-state error; k d Represents the differential gain, which is used to suppress the overshoot of the error and improve the system stability.

[0103] In the embodiment of the present invention, PID control is used to determine the current driving torque of each driving wheel, which is simple, efficient and easy to implement.

[0104] Alternatively, see Figure 2 After sending the driving instruction to the driving motor of each driving wheel, the method further includes:

[0105] determining a current rotation angle of the vehicle;

[0106] When the current rotation angle of the vehicle is equal to the target rotation angle, the stationary steering is exited, and the exiting the stationary steering includes gradually clearing the current driving torque of each driving wheel.

[0107] In this implementation, during the steering process, the current rotation angle of the vehicle can be determined by integrating the yaw angular velocity collected by the sensor in real time.

[0108] In the embodiment of the present invention, when the current rotation angle of the vehicle is equal to the target rotation angle, the on-the-spot steering is exited, including gradually clearing the current driving torque of each driving wheel, which is conducive to smooth parking and further improves the stability of the vehicle.

[0109] In some embodiments, the exit from the stationary turn may further include requesting to cancel braking of the target locked wheel.

[0110] Optionally, the sending an instruction to the braking system to lock the target locked wheel includes:

[0111] Determining a motion trajectory of the vehicle based on the target rotation angle and information of the target locked wheel;

[0112] Determining a first minimum distance between the vehicle and surrounding obstacles in the motion trajectory;

[0113] When the first minimum distance is greater than a preset threshold, an instruction to lock the target locking wheel is sent to the braking system.

[0114] The above steps are used to determine whether there is a collision risk in the motion trajectory of the steering before steering. When there is a collision risk in the above motion trajectory (that is, when the first minimum distance is less than or equal to the preset threshold), the on-site steering is exited, and the driver can be reminded of the collision risk in the above motion trajectory by displaying on the in-vehicle display screen or playing voice. When there is no collision risk in the above motion trajectory (that is, when the first minimum distance is greater than the preset threshold), an instruction to lock the target locked wheel is sent to the braking system, so that the braking system controls the target locked wheel to lock.

[0115] As an example, the above-mentioned first minimum distance can be determined based on the position of the vehicle before turning, the distances to surrounding obstacles output by multiple ultrasonic radars of the vehicle body before turning, and the position of the vehicle in the motion trajectory, to determine the minimum distance between the vehicle and the surrounding obstacles in the motion trajectory, that is, the first minimum distance.

[0116] In an embodiment of the present invention, before controlling the steering of the vehicle body, the movement trajectory of the vehicle is first determined based on the target rotation angle and the target locked wheel information; then, it is determined in advance whether there is a collision risk in the movement trajectory of the vehicle. When there is no collision risk, the braking control step is performed, which is beneficial to improving the safety of the vehicle's on-the-spot steering.

[0117] Alternatively, see Figure 2 After sending the driving instruction to the driving motor of each driving wheel, the method further includes:

[0118] Determining a second minimum distance between the vehicle and surrounding obstacles during the process of turning on the spot;

[0119] When the second minimum distance is less than or equal to a preset threshold, the stationary steering is exited, and the exiting the stationary steering includes gradually clearing the current driving torque of each driving wheel.

[0120] In order to avoid collisions between the vehicle and existing obstacles or obstacles that suddenly appear in the process of turning on the spot, the embodiment of the present invention detects the second minimum distance to the surrounding obstacles during the turning on the spot, and determines whether the second minimum distance is less than or equal to a preset threshold value to determine whether there is a risk of collision. When the second minimum distance is less than or equal to the preset threshold value, the turning on the spot is exited, including gradually clearing the current driving torque of each driving wheel, so as to achieve smooth parking.

[0121] As an example, during the steering process, the second minimum distance may be determined by taking the minimum value of the distances sent by multiple ultrasonic radars of the vehicle body.

[0122] The embodiment of the present invention determines whether there is a collision risk during the steering process and exits the on-the-spot steering if there is a risk, including gradually clearing the current driving torque of each driving wheel, which is beneficial to further improve steering safety and achieve smooth parking.

[0123] In the embodiment of the present invention, the target rotation angle and the target locked wheel information may be information input by the driver. The control method of turning in situ of the present invention may be used in scenarios such as parallel parking.

[0124] When the present invention is used for parallel parking, the driver can input auxiliary parking instructions through the in-vehicle display screen or voice, as well as input information of the target rotation angle and the target locked wheel.

[0125] In some embodiments, after receiving the above assisted parking instruction, information of the recommended rotation angle and the recommended locked wheel may also be sent for user reference.

[0126] Optionally, the step of obtaining information of a target rotation angle and a target locked wheel for the vehicle to turn in situ includes:

[0127] Receive assisted parking instructions;

[0128] Based on the current position of the vehicle and the position of the target parking space, sending information of a suggested rotation angle and a suggested locked wheel;

[0129] Receive the target rotation angle and the target locked wheel information input by a user.

[0130] In this embodiment, the recommended rotation angle may be determined based on the current position of the vehicle and the position of the target parking space, for example, based on the angle between the center axis of the vehicle and the center axis of the target parking space.

[0131] Based on the current position of the vehicle and the position of the target parking space, information of the recommended locked wheels can also be determined. An exemplary description is given below.

[0132] When the front of the vehicle is detected to enter the target parking space, it is recommended that the locked wheel can be the outer wheel among the front wheels, because the outer wheel is usually closer to the edge of the parking space. Figure 4 When the vehicle enters the left parking space from the right, it is recommended that the locked wheel can be the right front wheel. When the rear of the vehicle is detected to enter the target parking space, it is recommended that the locked wheel can be the outer wheel of the rear wheels.

[0133] The embodiment of the present invention sends information of a recommended rotation angle and a recommended locking wheel based on the current position of the vehicle and the position of the target parking space, which can provide a reference to the driver and improve the driver's experience.

[0134] An embodiment of the present invention provides a control system for vehicle on-the-spot steering, which is used to implement the above embodiment.

[0135] See also Figure 3 The control system for vehicle on-site steering includes a main control module 310, a driver demand setting module 320, a wheel center speed detection module 330, a collision detection module 340, a locking brake execution module 350 and a torque execution module 360. The main control module 310 is used to execute the steps of the above-mentioned vehicle on-site steering control method. The driver demand setting module 320 is used for the driver to input the target rotation angle and the target locked wheel information. The wheel center speed detection module 330 is used to detect the current actual wheel center speed of the driving wheel. The collision detection module 340 is used to send the distance between the vehicle body and the surrounding obstacles to the main control module. The collision detection module 340 can send all the detected distances to the main control module, and the main control module 310 determines the above-mentioned first minimum distance and second minimum distance; or, since the determination of the second minimum distance is relatively simple, the collision detection module 340 can also directly determine the second minimum distance and then send the second minimum distance to the main control module 310. The locking brake execution module 350 is used to execute the locking of the target locked wheel, which can be set in the braking system. The torque execution module 360 ​​is used to receive the current driving torque output by the main control module 310 and drive based on the current driving torque. The torque execution module 360 ​​can be set in the driving motor.

[0136] In order to more clearly understand the technical solution of the embodiment of the present invention, Figure 4 The technical solution of the embodiment of the present invention is exemplarily illustrated by the parallel parking scenario in the embodiment.

[0137] See also Figure 4 , the vehicle enters the parking space from the right. The steps for turning on the spot are as follows:

[0138] a. After the right front wheel enters the parking space, the driver sets the right front wheel to lock and sets a target rotation angle through the driver demand setting module so that the vehicle can rotate to a position parallel to the parking space based on the target rotation angle.

[0139] b. The driver activates the assisted parking function.

[0140] c. The driver demand setting module sends the set demand to the main control module through a signal, and the main control module determines whether the conditions for opening the auxiliary parking function are met (i.e., whether there is a collision risk, that is, whether the first minimum distance is greater than the above-mentioned preset distance). If the conditions are met, the right front wheel is controlled to lock. After confirming the lock, the target wheel center speed of each driving wheel is determined, and based on the deviation between the target wheel center speed of each driving wheel and the current actual wheel center speed, the current driving torque is determined through PID control.

[0141] d. The main control module sends a drive command to the drive motor of each drive wheel, and the drive command carries the corresponding current drive torque. The drive motor of each drive wheel performs drive control based on the received drive command, so that the left front wheel and the left rear wheel turn forward, and the right rear wheel turns backward.

[0142] e. The main control module calculates the current rotation angle of the vehicle. When the target rotation angle is reached, the PID loop is exited, and the main control module gradually clears the torque to control the exit of the assisted parking function;

[0143] f. During the vehicle rotation process, when the second minimum distance given by the collision detection module is less than or equal to the preset threshold, the PID loop is exited, the main control module gradually clears the torque, and controls the assisted parking function to exit.

[0144] Through the above steps a to f, the vehicle can be smoothly turned on the spot, and collision detection before and during turning can be achieved, thereby improving turning safety.

[0145] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0146] Figure 5 It is a block diagram of a control device for turning on the spot of a vehicle shown in an exemplary embodiment of the present invention.

[0147] like Figure 5 As shown, the exemplary vehicle on-site steering control device includes:

[0148] An acquisition module 510 is used to acquire information of a target rotation angle and a target locked wheel for the vehicle to turn in situ;

[0149] A first sending module 520, configured to send a command to the braking system to lock the target locked wheel;

[0150] A first determination module 530 is used to determine a target wheel center speed of each driving wheel except the target locking wheel when the target locking wheel is rotated according to the target rotation angle with the target locking wheel as the rotation point;

[0151] A second determination module 540, configured to determine a current driving torque of each driving wheel based on a deviation between a target wheel center speed of each driving wheel and a current actual wheel center speed;

[0152] The second sending module 550 is used to send a driving instruction to the driving motor of each driving wheel, wherein the driving instruction carries the corresponding current driving torque.

[0153] Optionally, the first determining module 530 is specifically configured to:

[0154] Based on a preset yaw angular velocity, a target wheel center velocity of each driving wheel except the target locking wheel when the target locking wheel is rotated according to the target rotation angle with the target locking wheel as a rotation point is determined.

[0155] Optionally, the second determining module 540 is specifically configured to:

[0156] Based on the deviation between the target wheel center speed of each driving wheel and the current actual wheel center speed, the current driving torque of each driving wheel is determined through PID control.

[0157] Optionally, the device further comprises:

[0158] A third determination module, used to determine a current rotation angle of the vehicle;

[0159] The function exit module is used to exit the on-the-spot steering when the current rotation angle of the vehicle is equal to the target rotation angle, and the exit from the on-the-spot steering includes gradually clearing the current driving torque of each driving wheel.

[0160] Optionally, the first sending module 520 includes:

[0161] A first determining unit, configured to determine a motion trajectory of the vehicle based on the target rotation angle and information of the target locked wheel;

[0162] A second determining unit, configured to determine a first minimum distance between the vehicle and surrounding obstacles in the motion trajectory;

[0163] The first sending unit is used to send an instruction to lock the target locking wheel to the braking system when the first minimum distance is greater than a preset threshold.

[0164] Optionally, the device further comprises:

[0165] a fourth determination module, configured to determine a second minimum distance between the vehicle and surrounding obstacles during the process of turning in situ;

[0166] The function exit module is used to exit the on-the-spot steering when the second minimum distance is less than or equal to a preset threshold value, and the exit from the on-the-spot steering includes gradually clearing the current driving torque of each driving wheel.

[0167] Optionally, the acquisition module 510 includes:

[0168] A first receiving unit, configured to receive an assisted parking instruction;

[0169] A second sending unit is used to send information of a recommended rotation angle and a recommended locked wheel based on the current position of the vehicle and the position of the target parking space;

[0170] The second receiving unit is used to receive the target rotation angle and the target locked wheel information input by the user.

[0171] It should be noted that the control device for vehicle on-the-spot steering provided in the above embodiment and the control method for vehicle on-the-spot steering provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment and will not be repeated here. In actual application, the control device for vehicle on-the-spot steering provided in the above embodiment can distribute the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0172] An embodiment of the present invention also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the control method for vehicle on-the-spot steering provided in the above-mentioned embodiments.

[0173] Figure 6 The structure diagram of the computer system of the electronic device suitable for implementing the embodiment of the present invention is shown. It should be noted that: Figure 6 The computer system 600 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0174] like Figure 6As shown, the computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 602 or the program loaded from the storage part 608 to the random access memory (RAM) 603, such as executing the method described in the above embodiment. In the RAM 603, various programs and data required for system operation are also stored. The CPU 601, ROM 602 and RAM 603 are connected to each other through a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0175] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed so that a computer program read therefrom is installed into the storage section 608 as needed.

[0176] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 609, and / or installed from a removable medium 611. When the computer program is executed by a central processing unit (CPU) 601, various functions defined in the system of the present invention are executed.

[0177] It should be noted that the computer-readable medium shown in the embodiment of the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable computer program. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0178] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. Among them, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0179] The units involved in the embodiments of the present invention may be implemented by software or hardware, and the units described may also be arranged in a processor. The names of these units do not, in some cases, limit the units themselves.

[0180] Another aspect 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 of a computer, the computer executes the control method for turning the vehicle in place as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0181] Another aspect of the present invention further provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the control method for vehicle in-situ steering provided in the above-mentioned various embodiments.

[0182] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A method for controlling vehicle turning in situ, characterized in that: include: Obtain the target rotation angle and target locked wheel information of the vehicle's on-the-spot steering; sending a command to the braking system to lock the target locked wheel; determining a target wheel center speed of each driving wheel except the target locked wheel when the target locked wheel is rotated according to the target rotation angle with the target locked wheel as the rotation point; determining a current driving torque of each driving wheel based on a deviation between a target wheel center speed of each driving wheel and a current actual wheel center speed; A driving instruction is sent to the driving motor of each driving wheel, wherein the driving instruction carries the corresponding current driving torque.

2. The method for controlling vehicle turning in place according to claim 1, characterized in that: The determining of the target wheel center speed of each driving wheel except the target locked wheel when the target locked wheel is used as the rotation point and rotates according to the target rotation angle includes: Based on a preset yaw angular velocity, a target wheel center velocity of each driving wheel except the target locking wheel when the target locking wheel is rotated according to the target rotation angle with the target locking wheel as a rotation point is determined.

3. The method for controlling vehicle turning in place according to claim 1, characterized in that: The determining the current driving torque of each driving wheel based on the deviation between the target wheel center speed of each driving wheel and the current actual wheel center speed comprises: Based on the deviation between the target wheel center speed of each driving wheel and the current actual wheel center speed, the current driving torque of each driving wheel is determined through PID control.

4. The method for controlling vehicle turning in situ according to claim 1, characterized in that: After sending the driving instruction to the driving motor of each driving wheel, the method further includes: determining a current rotation angle of the vehicle; When the current rotation angle of the vehicle is equal to the target rotation angle, the stationary steering is exited, and the exiting the stationary steering includes gradually clearing the current driving torque of each driving wheel.

5. The control method for vehicle turning in place according to any one of claims 1 to 4, characterized in that: The step of sending an instruction to the braking system to lock the target locked wheel comprises: Determining a motion trajectory of the vehicle based on the target rotation angle and information of the target locked wheel; Determining a first minimum distance between the vehicle and surrounding obstacles in the motion trajectory; When the first minimum distance is greater than a preset threshold, an instruction to lock the target locking wheel is sent to the braking system.

6. The control method for vehicle turning in place according to any one of claims 1 to 4, characterized in that: After sending the driving instruction to the driving motor of each driving wheel, the method further includes: Determining a second minimum distance between the vehicle and surrounding obstacles during the process of turning on the spot; When the second minimum distance is less than or equal to a preset threshold, the stationary steering is exited, and the exiting the stationary steering includes gradually clearing the current driving torque of each driving wheel.

7. The method for controlling vehicle turning in place according to claim 1, characterized in that: The step of obtaining the target rotation angle and target locked wheel information of the vehicle turning in situ includes: Receive assisted parking instructions; Based on the current position of the vehicle and the position of the target parking space, sending information of a suggested rotation angle and a suggested locked wheel; Receive the target rotation angle and the target locked wheel information input by a user.

8. A control device for turning on the spot of a vehicle, characterized in that: include: An acquisition module is used to acquire information of a target rotation angle and a target locked wheel of the vehicle for turning on the spot; A first sending module, used for sending an instruction to lock the target locking wheel to the braking system; A first determination module is used to determine a target wheel center speed of each driving wheel except the target locking wheel when the target locking wheel is rotated according to the target rotation angle with the target locking wheel as the rotation point; a second determination module, configured to determine a current driving torque of each driving wheel based on a deviation between a target wheel center speed of each driving wheel and a current actual wheel center speed; The second sending module is used to send a driving instruction to the driving motor of each driving wheel, and the driving instruction carries the corresponding current driving torque.

9. A device, characterized in that: include: one or more processors and memory, A computer program is stored in the memory, and when the one or more processors execute the computer program, the device executes the method for controlling vehicle steering in situ as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when executed by one or more processors, the device executes the control method for vehicle steering in situ as claimed in any one of claims 1 to 7.

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