Vehicle control method, storage medium, program product, device, system and vehicle

Abstract

The invention relates to a vehicle control method, a storage medium, a program product, equipment, a system and a vehicle. According to the vehicle control method, the vehicle is controlled to execute fulcrum steering operation in the process of passing through the curve, and the fulcrum steering operation means that a second wheel of the vehicle is controlled to steer with a first wheel as a fulcrum. According to the invention, the efficiency of the vehicle passing through the curve can be improved, the vehicle meeting probability of the vehicle on the curve is reduced, and the vehicle driving safety is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, storage medium, program product, device, system and vehicle. Background Art

[0002] When a vehicle is driving on a mountain road, it will encounter some sharp and narrow bends. To pass through these bends, the vehicle needs to reverse back and forth to adjust its position, which takes a lot of time. Improper operation may also cause safety accidents. How to make the vehicle pass through sharp and narrow bends efficiently and safely is a technical problem that needs to be solved urgently. Summary of the invention

[0003] The embodiments of the present application provide a vehicle control method, storage medium, program product, device, system and vehicle, which can efficiently and safely pass through sharp and narrow curves, so as to at least partially solve the above-mentioned technical problems.

[0004] In order to achieve the above-mentioned purpose, according to the first aspect of the present application, a vehicle control method is provided, the method comprising: controlling the vehicle to perform a fulcrum steering operation while the vehicle passes through a curve; wherein the fulcrum steering operation refers to controlling the second wheel of the vehicle to turn with the first wheel as the fulcrum.

[0005] Optionally, the first wheel is a wheel on the inner side of the vehicle close to the curve.

[0006] Optionally, the first wheel is located at the rear side of the vehicle in the driving direction.

[0007] Optionally, the second wheel includes a wheel located at the front side in the driving direction of the vehicle.

[0008] Optionally, controlling the vehicle to perform a fulcrum steering operation includes: controlling the second wheel to turn in a first direction with the first wheel as a fulcrum; wherein the first direction is consistent with a bending direction of the curve.

[0009] Optionally, the second wheel includes a wheel located at the rear side of the vehicle in the driving direction.

[0010] Optionally, controlling the vehicle to perform a fulcrum steering operation includes: controlling the second wheel to turn in a first direction with the first wheel as a fulcrum; wherein the first direction is consistent with a bending direction of the curve.

[0011] Optionally, controlling the second wheel to turn in the first direction with the first wheel as a fulcrum includes: controlling the second wheel to turn in the first direction with the first wheel as a fulcrum when the wheel located in front of the vehicle in the driving direction can pass through the curve.

[0012] Optionally, controlling the vehicle to perform pivot steering operations includes: controlling the second wheel to pivot around the first wheel and steer in a second direction; wherein, there is a preset angle between the second direction and the bending direction of the curve.

[0013] Optionally, controlling the second wheel to pivot around the first wheel and steer in a second direction includes: when the wheel in front of the vehicle's driving direction cannot pass through the curve, controlling the second wheel to pivot around the first wheel and steer in the second direction.

[0014] Optionally, controlling the vehicle to perform pivot steering operations includes: controlling the second wheel to perform multiple consecutive pivoting turns around the first wheel; wherein, in the multiple consecutive turns, there are two adjacent turns that are respectively steering in a first direction and a second direction; the first direction is consistent with the bending direction of the curve, and there is a preset angle between the second direction and the bending direction of the curve.

[0015] Optionally, controlling the second wheel to perform multiple consecutive pivoting turns around the first wheel includes: when the wheel in front of the vehicle's driving direction cannot pass through the curve, after controlling the second wheel to pivot around the first wheel and steer in the second direction, then steering in the first direction.

[0016] Optionally, controlling the vehicle to perform pivot steering operations includes: controlling the vehicle to perform pivot steering operations according to a predicted path.

[0017] Optionally, the method further includes: determining the predicted path according to the driving data of the vehicle.

[0018] Optionally, the driving data includes at least one of the following: vehicle status data, driving environment data, map data.

[0019] Optionally, controlling the vehicle to perform pivot steering operations includes: when a first trigger condition is met, controlling the vehicle to perform pivot steering operations.

[0020] Optionally, the first trigger condition includes that the vehicle cannot pass through the curve based on the steering wheel steering operation.

[0021] Optionally, the method further includes: judging whether the curve meets the first trigger condition according to the road data of the curve and the turning data of the vehicle.

[0022] Optionally, the road data includes at least one of the following: curve radius, curve curvature, curve width.

[0023] Optionally, the turning data includes a minimum turning radius.

[0024] Optionally, the method further includes: performing a steering prompt operation when a second trigger condition is satisfied; wherein the steering prompt operation is used to prompt that the curve cannot be directly passed through.

[0025] Optionally, the second trigger condition includes at least one of the following: unable to pass through the curve based on the pivot steering operation, unable to pass through the curve.

[0026] Optionally, the method further includes: controlling the vehicle to perform a steering wheel steering operation when a third trigger condition is satisfied.

[0027] Optionally, the third trigger condition includes at least one of the following: the acting torque of the steering wheel satisfies a torque change condition, the pedal data of the brake pedal changes.

[0028] Optionally, the torque change condition includes at least one of the following: the acting torque is greater than a first threshold and the direction of the acting torque is the same within a first control period, the acting torque increases in the same direction within a second control period and the acting torque is greater than a second threshold at the end time period of the second control period.

[0029] Optionally, the pedal data includes a pedal opening.

[0030] According to a second aspect of the present application, there is provided a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above vehicle control method is implemented.

[0031] According to a third aspect of the present application, there is provided a computer program product, including a computer program, and when the computer program is executed by a processor, the above vehicle control method is implemented.

[0032] According to a fourth aspect of the present application, there is provided an electronic device, including: a memory, on which a computer program is stored; a processor, configured to execute the computer program in the memory to implement the above vehicle control method.

[0033] According to a fifth aspect of the present application, there is provided a vehicle control system, the vehicle control system includes a controller; wherein, the controller is configured to: during the process of the vehicle passing through a curve, control the vehicle to perform a pivot steering operation; wherein the pivot steering operation refers to controlling the second wheel of the vehicle to turn with the first wheel as a pivot.

[0034] Optionally, the vehicle control system includes a first motor; wherein, the controller is configured to: control the first wheel through the first motor so that the pivot steering operation takes the first wheel as a pivot.

[0035] Optionally, the vehicle control system includes a second motor; wherein, the controller is configured to: during the pivot steering operation, control the second wheel to steer with the first wheel as a pivot through the second motor.

[0036] Optionally, the second wheel includes a wheel located on the front side of the vehicle's traveling direction and a wheel located on the rear side of the vehicle's traveling direction; the second motor includes a motor for controlling the wheel located on the front side of the vehicle's traveling direction in the second wheel and a motor for controlling the wheel located on the rear side of the vehicle's traveling direction in the second wheel.

[0037] Optionally, the vehicle control system includes a first motor; wherein, the controller is configured to: control the first wheel through the first motor so that the pivot steering operation is pivoted on the first wheel, and the first wheel includes a wheel on the rear side of the traveling direction; the first motor and the second motor are independent of each other.

[0038] Optionally, the vehicle control system further includes a data acquisition device; wherein, the data acquisition device is configured to: acquire the driving data of the vehicle.

[0039] Optionally, the data acquisition device includes at least one of the following: a sensor, a radar, a camera, and a positioning system.

[0040] Optionally, the vehicle control system further includes a multimedia device; wherein, the multimedia device is configured to: perform a steering prompt operation.

[0041] According to a sixth aspect of the present application, there is provided a vehicle including the above-mentioned electronic device or the above-mentioned vehicle control system.

[0042] In summary, the technical solution provided by the embodiments of the present application controls the vehicle to perform a pivot steering operation during passing through a curve. The pivot steering operation refers to controlling the second wheel of the vehicle to steer with the first wheel as a pivot. In the process of the vehicle passing through a curve in the embodiments of the present application, with the first wheel as a pivot, the steering control of the vehicle is achieved by controlling the steering attitude of the second wheel, which can improve the steering ability of the vehicle in a narrow space, reduce the turning radius of the vehicle, so that the vehicle can smoothly pass through the curve without reversing back and forth, and improve the efficiency of the vehicle passing through the curve. In addition, since the embodiments of the present application can control the vehicle to quickly pass through the curve, the probability of meeting vehicles in the curve can be reduced, and the driving safety of the vehicle can be improved.

[0043] Other features and advantages of the present application will be described in detail in the subsequent specific implementation part. Description of the Drawings

[0044] To more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings required for the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those skilled in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0045] To more fully understand the present application and its beneficial effects, the following description will be made in conjunction with the accompanying drawings, where the same reference numerals in the following description represent the same parts.

[0046] Figure 1 is a flowchart of a vehicle control method provided by an embodiment of the present application;

[0047] Figure 2 is a schematic diagram of a vehicle turning provided by an embodiment of the present application;

[0048] Figure 3 is a flowchart of another vehicle control method provided by an embodiment of the present application;

[0049] Figure 4 is a schematic diagram of a vehicle control system provided by an embodiment of the present application;

[0050] Figure 5 is a schematic diagram of another vehicle control system provided by an embodiment of the present application;

[0051] Figure 6 is a schematic diagram of another vehicle control system provided by an embodiment of the present application;

[0052] Figure 7 is a flowchart of another vehicle control method provided by an embodiment of the present application;

[0053] Figure 8 is a schematic diagram of a vehicle provided by an embodiment of the present application. Detailed implementation manners

[0054] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present application.

[0055] When a vehicle is driving on a mountain path, it will encounter some sharp and narrow curves, such as U-shaped curves or S-shaped curves. When passing through these curves, it is necessary to reverse the vehicle back and forth to adjust the position of the vehicle. Due to different reasons such as the width of the lane, obstacles in the lane, oncoming vehicles, and the driving level of the driver, passing through the curve may take a lot of time. When meeting oncoming vehicles, there may also be scratches and collisions, causing safety accidents and reducing the driving safety of the vehicle.

[0056] In view of the above problems, embodiments of the present application provide a vehicle control method, a storage medium, a program product, a device, a system, and a vehicle, which can pass through sharp and narrow curves efficiently and safely to at least partially solve the above technical problems.

[0057] According to the first aspect of the present application, embodiments of the present application provide a vehicle control method.

[0058] Please refer to Figure 1 , Figure 1 which is a flowchart of a vehicle control method provided by an embodiment of the present application. As Figure 1 shown, the vehicle control method includes the following step S100.

[0059] Step S100, during the process of the vehicle passing through a curve, control the vehicle to perform a pivot steering operation; wherein, the pivot steering operation refers to controlling the second wheel of the vehicle to turn with the first wheel as a pivot. The first wheel can be any wheel in the vehicle, and the second wheel can be at least one wheel different from the first wheel in the vehicle. The steering attitude of the second wheel can be the steering angle of the second wheel.

[0060] The pivot steering operation in the embodiment of the present application refers to an operation of controlling the second wheel to turn the vehicle by controlling the steering attitude of the second wheel with the first wheel as a pivot. Using the first wheel as a pivot can improve the steering ability of the vehicle in a narrow space, reduce the turning radius of the vehicle, so that the vehicle can smoothly pass through the curve without reversing back and forth, and improve the efficiency of the vehicle passing through the curve. In addition, since the embodiment of the present application can control the vehicle to quickly pass through the curve, it can reduce the probability of meeting oncoming vehicles on the curve and improve the driving safety of the vehicle.

[0061] In some embodiments, the first wheel is the wheel of the vehicle that is closer to the inner side of the curve.

[0062] The inner side of the curve can be the side closer to the center of the curve. Exemplarily, when the curve is a left turn, the left side of the curve is the inner side of the curve, and the first wheel can be the wheel on the left side of the vehicle; when the curve is a right turn, the right side of the curve is the inner side of the curve, and the first wheel can be the wheel on the right side of the vehicle.

[0063] The distance between the inner side of the curve and the center of the curve is shorter than the distance between the outer side of the curve and the center of the curve. By setting the wheels of the vehicle closer to the inner side of the curve as the fulcrum, the turning radius of the vehicle during the fulcrum steering operation can be reduced, and the efficiency of the vehicle passing through the curve can be improved.

[0064] It can be understood that in the embodiments of the present application, whether the vehicle is moving forward or backward, the wheels of the vehicle closer to the inner side of the curve are used as the first wheels.

[0065] In some embodiments, the first wheel is located behind the driving direction of the vehicle.

[0066] The driving direction of the vehicle can be the moving direction of the vehicle on the road. Exemplarily, when the vehicle is moving forward, the first wheel can be the rear wheel of the vehicle located behind the driving direction; when the vehicle is moving backward, the first wheel can be the front wheel of the vehicle located behind the driving direction.

[0067] In the embodiments of the present application, using the wheel located behind the driving direction of the vehicle as the steering fulcrum can reduce the turning radius of the vehicle during the fulcrum steering operation, improve the steering flexibility of the vehicle, and improve the passing efficiency of the vehicle in a narrow curve.

[0068] In some embodiments, when the driving direction of the vehicle is the forward direction, if the curve is a left curve, the first wheel is the left rear wheel; if the curve is a right curve, the first wheel is the right rear wheel. When the driving direction of the vehicle is the backward direction (such as reversing), if the curve is a left curve, the first wheel is the left front wheel; if the curve is a right curve, the first wheel is the right front wheel.

[0069] In some embodiments, the second wheels include the wheels located in front of the driving direction of the vehicle.

[0070] The second wheels are at least one wheel different from the first wheels. The second wheels are the wheels that drive the vehicle to turn. When the vehicle uses the first wheels as the fulcrum, the steering operation is performed according to the steering posture of the second wheels.

[0071] The second wheels can be the wheels that drive the vehicle to turn when using the first wheels as the fulcrum. Setting the second wheels on the front side of the driving direction of the vehicle is conducive to the distribution of the driving force of the second wheels and improves the driving stability of the vehicle.

[0072] Exemplarily, when the vehicle is moving forward, the second wheels can be the front wheels of the vehicle located in front of the driving direction; when the vehicle is moving backward (such as reversing), the second wheels can be the rear wheels of the vehicle located in front of the driving direction.

[0073] In some embodiments, the second wheels include the wheels located behind the driving direction of the vehicle.

[0074] The second wheel is arranged at the rear side in the vehicle traveling direction, which can improve the controllability of vehicle steering. When the vehicle passes through a curve, driving the vehicle by the wheel located at the rear side in the vehicle traveling direction can make the vehicle easier to turn.

[0075] Exemplarily, when the vehicle is moving forward, the second wheel can be the rear wheel of the vehicle located at the rear side in the traveling direction; when the vehicle is moving backward (such as reversing), the second wheel can be the front wheel of the vehicle located at the rear side in the traveling direction.

[0076] It can be understood that the second wheel can be one wheel or multiple wheels. In some embodiments, the second wheel includes a wheel located at the front side in the vehicle traveling direction and a wheel located at the rear side in the vehicle traveling direction.

[0077] When the second wheel is multiple wheels, the second wheel can include both a wheel located at the front side in the vehicle traveling direction and a wheel located at the rear side in the vehicle traveling direction. At this time, the vehicle turns under the drive of multiple second wheels, which can make the vehicle steering have both stability and controllability.

[0078] When the vehicle includes multiple second wheels, the steering postures between different second wheels can be the same or different. In the case where the vehicle includes multiple second wheels, the vehicle can rotate only under the drive of one second wheel or under the drive of multiple second wheels.

[0079] In some embodiments, when the second wheel includes a wheel located at the front side in the vehicle traveling direction, controlling the vehicle to perform a pivot steering operation includes: controlling the second wheel to pivot around the first wheel and turn in the first direction. Wherein, the first direction is consistent with the bending direction of the curve.

[0080] The first direction being consistent with the bending direction of the curve can mean that the direction of turning in the first direction is the same as the bending direction of the curve. It can be understood that the first direction being consistent with the bending direction of the curve in the embodiments of the present application does not limit that the turning angle of the second wheel is exactly the same as the bending angle of the curve, but only ensures that the turning direction of the second wheel is the same as the bending direction of the curve.

[0081] Exemplarily, in the case where the second wheel includes a wheel located at the front side in the vehicle traveling direction, whether the vehicle is moving forward or backward, when the curve is a left curve, the first direction corresponds to the left, and the steering posture of the second wheel can be to turn left in the clockwise direction to drive the vehicle to turn left; when the curve is a right curve, the first direction corresponds to the right, and the steering posture of the second wheel can be to turn right in the counterclockwise direction to drive the vehicle to turn right.

[0082] In some embodiments, when the second wheel includes a wheel located at the rear side of the vehicle in the driving direction, controlling the vehicle to perform pivot steering operations includes: controlling the second wheel to pivot about the first wheel and steer in a first direction. The first direction is the same as the bending direction of the curve.

[0083] Exemplarily, whether the vehicle is moving forward or backward, when the curve is a left curve, the first direction corresponds to left, and the steering posture of the second wheel can be to turn left in a clockwise direction to drive the vehicle to turn left; when the curve is a right curve, the first direction corresponds to right, and the steering posture of the second wheel can be to turn right in a counterclockwise direction to drive the vehicle to turn right.

[0084] In some embodiments, when the second wheel includes a wheel located at the front side of the vehicle in the driving direction and a wheel located at the rear side of the vehicle in the driving direction, controlling the vehicle to perform pivot steering operations includes: controlling the second wheel to pivot about the first wheel and steer in a first direction. The first direction is the same as the bending direction of the curve.

[0085] Exemplarily, when the second wheel includes multiple wheels, whether the vehicle is moving forward or backward, when the curve is a left curve, the first direction corresponds to left, and the steering posture of the second wheel can be to turn left in a clockwise direction to drive the vehicle to turn left; when the curve is a right curve, the first direction corresponds to right, and the steering posture of the second wheel can be to turn right in a counterclockwise direction to drive the vehicle to turn right.

[0086] In some embodiments, when the second wheel includes a wheel located at the rear side of the vehicle in the driving direction, controlling the second wheel to pivot about the first wheel and steer in a first direction includes: when the wheel located at the front side of the vehicle in the driving direction can pass through the curve, controlling the second wheel to pivot about the first wheel and steer in a first direction.

[0087] When the vehicle is turning, it is necessary to judge whether the vehicle meets the cornering conditions in combination with the vehicle state and the driving environment. The cornering conditions are usually related to the turning radius of the vehicle, the turning radius of the curve, and the width of the curve. Among them, when the vehicle performs different turning operations, different turning radii may be corresponding. When the vehicle can pass through the curve, there may be a problem that the wheel located at the front side of the vehicle in the driving direction cannot pass through the curve due to the driving angle of the vehicle on the curve. At this time, it is necessary to adjust the driving angle of the vehicle on the curve.

[0088] When controlling the second wheel to turn in the first direction that is consistent with the bending direction of the curve in this embodiment, it is also necessary to determine whether the wheel located on the front side of the vehicle driving direction can pass through the curve. If it can pass through the curve, control the second wheel to turn in the first direction with the first wheel as the fulcrum. If it cannot pass through the curve, it is necessary to adjust the driving direction of the vehicle on the curve.

[0089] In some embodiments, when the second wheel includes a wheel located on the rear side of the vehicle driving direction, controlling the vehicle to perform the fulcrum steering operation includes: controlling the second wheel to turn in the second direction with the first wheel as the fulcrum. Wherein, there is a preset angle between the second direction and the bending direction of the curve.

[0090] The second direction is a direction that is generally the same as the opposite direction of the bending direction of the curve but has an angle. In the embodiments of the present application, when controlling the second vehicle to turn in the second direction, in order to better adjust the posture of the vehicle, control the second wheel to turn in the second direction with a preset angle from the bending direction of the curve, so as to control the vehicle to adjust the driving angle and pass through the curve after the angle adjustment.

[0091] Exemplarily, when the curve is a left turn, there is a preset angle between the second direction and the bending direction of the curve, presenting an angle roughly to the right. At this time, the steering posture of the second wheel can be to turn to the right in the counterclockwise direction to drive the vehicle to adjust the driving angle of the vehicle; when the curve is a right turn, the second direction is to the left, and the steering posture of the second wheel can be to turn to the right in the clockwise direction to drive the vehicle to adjust the driving angle of the vehicle.

[0092] In some embodiments, the second wheel includes a wheel located on the front side of the vehicle driving direction and a wheel located on the rear side of the vehicle driving direction. Controlling the vehicle to perform the fulcrum steering operation includes: controlling the wheel located on the front side of the vehicle driving direction to turn in the first direction with the first wheel as the fulcrum, and the wheel located on the rear side of the vehicle driving direction to turn in the second direction with the first wheel as the fulcrum. Wherein, the first direction is consistent with the bending direction of the curve, and there is a preset angle between the second direction and the bending direction of the curve.

[0093] The fulcrum steering operation in this embodiment may refer to controlling the wheels located on the front side of the vehicle driving direction and the wheels located on the rear side of the vehicle driving direction to turn in different directions, so that the vehicle can also adjust the driving angle of the vehicle by combining the posture of the wheels located on the rear side of the vehicle driving direction during the fulcrum steering operation.

[0094] In some embodiments, when controlling the vehicle to perform the fulcrum steering operation, control the steering angle of the second wheel in the first direction within the first angle range to avoid the side of the vehicle from colliding with the edge of the curve and avoid potential safety hazards when the vehicle performs the fulcrum steering operation.

[0095] In some embodiments, when the second wheel includes a wheel located at the rear side in the driving direction of the vehicle, controlling the second wheel to pivot-steer in a second direction with the first wheel as a pivot point includes: when the wheels located at the front side in the driving direction of the vehicle cannot pass through a curve, controlling the second wheel to pivot-steer in a second direction with the first wheel as a pivot point.

[0096] As shown in the foregoing embodiments, when the vehicle meets the passing conditions of a curve, but the wheels currently located at the front side in the driving direction of the vehicle cannot pass through the curve, it is necessary to adjust the driving angle of the vehicle in the curve. The driving angle of the vehicle in the curve can also be adjusted by pivot-steering operations, that is, controlling the wheels located at the front side in the driving direction of the vehicle and the wheels located at the rear side in the driving direction of the vehicle to steer in different directions respectively, so that the driving angle of the vehicle in the curve can be adjusted during the steering process.

[0097] In some embodiments, controlling the vehicle to perform pivot-steering operations includes: controlling the second wheel to perform multiple consecutive pivots with the first wheel as a pivot point. Among them, there are two adjacent pivots in the multiple consecutive pivots that are respectively a pivot in a first direction and a pivot in a second direction; the first direction is consistent with the bending direction of the curve, and there is a preset angle between the second direction and the bending direction of the curve.

[0098] Facing a narrow curve, the vehicle may perform different pivot-steering operations when passing through different areas of the curve. For a curve in a complex environment, the vehicle can be controlled to perform multiple consecutive pivots to pass through smoothly.

[0099] The multiple consecutive pivots include at least two pivot-steering operations, and two adjacent pivots are respectively a pivot in a first direction and a pivot in a second direction. Among them, the first direction is consistent with the bending direction of the curve, and there is a preset angle between the second direction and the bending direction of the curve.

[0100] When there are multiple bending segments in the curve passed by the vehicle, the vehicle can be controlled to perform multiple consecutive pivots to pass through the multiple bending segments. For example, an S-shaped curve can be regarded as two consecutive U-shaped curves. When controlling the vehicle to pass through an S-shaped curve, the vehicle is controlled to perform multiple consecutive pivots to control the vehicle to pass through the S-shaped curve.

[0101] In some embodiments, controlling the second wheel to perform multiple consecutive pivots with the first wheel as a pivot point includes: when the wheels located at the front side in the driving direction of the vehicle cannot pass through the curve, after controlling the second wheel to pivot-steer in a second direction with the first wheel as a pivot point, then pivot-steering in a first direction.

[0102] For a sharp and narrow curve, the switching time of consecutive steering operations can be determined based on the driving state of the wheels in front of the vehicle in the driving direction. For example, when the wheels in front of the vehicle in the driving direction cannot pass through the curve, first control the second wheel to pivot around the first wheel and turn in the second direction until the wheels in front of the vehicle in the driving direction can pass through the curve, and then control the second wheel to pivot around the first wheel and turn in the first direction.

[0103] When the wheels in front of the vehicle in the driving direction can pass through the curve, first control the second wheel to pivot around the first wheel and turn in the first direction. When the wheels in front of the vehicle in the driving direction cannot pass through the curve, control the second wheel to pivot around the first wheel and turn in the second direction until the wheels in front of the vehicle in the driving direction can pass through the curve, and then control the second wheel to pivot around the first wheel and turn in the first direction.

[0104] In some embodiments, the second wheels include the wheels in front of the vehicle in the driving direction and the wheels behind the vehicle in the driving direction. When controlling the vehicle to perform consecutive steering operations, the wheels in front of the vehicle in the driving direction and the wheels behind the vehicle in the driving direction can be controlled to turn in different directions.

[0105] Exemplarily, when the wheels in front of the vehicle in the driving direction and the wheels behind the vehicle in the driving direction pivot around the first wheel, they are controlled to turn in the first direction and the second direction respectively. When the vehicle performs consecutive steering operations, the steering directions of the wheels in front of the vehicle in the driving direction and the wheels in front of the vehicle in the driving direction can be controlled separately.

[0106] In this embodiment, the pivot steering operation can separately control the wheels in front of the vehicle in the driving direction and the wheels behind the vehicle in the driving direction to turn in different directions, so that the vehicle can flexibly adjust its posture when passing through a curve. In addition, the embodiments of the present application can control the state of each wheel separately to enable the vehicle to pass through the curve smoothly, with high control accuracy and good reliability.

[0107] In some embodiments, controlling the vehicle to perform pivot steering operations includes: controlling the vehicle to perform pivot steering operations according to the predicted path.

[0108] The predicted path can be the driving path determined according to the driving environment or driving state of the vehicle when the vehicle is driving. Whether the vehicle is in an autonomous driving state or a driver driving state, the predicted path can assist the driving control of the vehicle, help handle complex road conditions, optimize the driving path of the vehicle, and improve the driving safety of the vehicle.

[0109] During the process of a vehicle passing through a curve, in view of the narrow space of the curve and the complex driving environment, the driving path of the vehicle can be predicted in advance to obtain a predicted path, and the vehicle can be controlled to perform a pivot steering operation according to the predicted path, which can reduce the number of operations of the vehicle when passing through the curve, reduce the passing time of the vehicle, and increase the passing speed of the vehicle.

[0110] In some embodiments, the vehicle control method further includes: determining a predicted path according to the driving data of the vehicle.

[0111] The driving data is data related to the driving state of the vehicle obtained by devices such as sensors, cameras, and Global Positioning System (GPS) installed on the vehicle when the vehicle is driving.

[0112] In some embodiments, the driving data includes at least one of the following: vehicle state data, driving environment data, and map data.

[0113] The vehicle state data can be data representing the state of the vehicle when the vehicle is driving, such as the speed of the vehicle, the attitude of the vehicle body, the battery power, etc. The driving environment data can be data representing the state of the lane when the vehicle is driving in the lane, such as the turning characteristics of the lane, the driving direction, the edge of the lane, or the obstacle data in the lane, etc. The map data can be future lane data collected through a positioning system or a navigation service, etc., and the map data can be used for path planning in advance to enable the vehicle or the driver to make preparations in advance.

[0114] In some embodiments, controlling the vehicle to perform a pivot steering operation includes: controlling the vehicle to perform a pivot steering operation when a first trigger condition is satisfied.

[0115] The first trigger condition is the condition for triggering the vehicle to perform a pivot steering operation. When the first trigger condition is satisfied, the vehicle steers through a pivot steering operation under the control of the vehicle control system.

[0116] In some embodiments, the first trigger condition includes that the vehicle cannot pass through the curve based on the steering wheel steering operation.

[0117] The driving of a vehicle is mainly controlled by a driver operating the steering wheel. For example, operations such as moving the vehicle forward, backward, and turning are controlled through the steering wheel. When the vehicle turns, a steering command can be sent from the steering wheel to the wheels located on the front side of the vehicle's driving direction, causing the vehicle to turn under the drive of the wheels on the front side of the vehicle's driving direction. However, when turning with the wheels on the front side of the vehicle's driving direction, the turning radius of the vehicle is large, and it cannot pass through some narrow or highly curved bends. At this time, the first trigger condition is triggered, and the vehicle control system controls the vehicle to perform a pivot steering operation with a small turning radius, that is, using the first wheel as a pivot, and controlling the steering attitude of the second wheel to control the vehicle's turning.

[0118] In some embodiments, the vehicle control method further includes: judging whether the bend satisfies the first trigger condition according to the road data of the bend and the turning data of the vehicle.

[0119] Determine whether the vehicle can pass through the bend based on the road data of the bend and the turning data of the vehicle to judge whether the bend satisfies the first trigger condition. For example, the turning data of the vehicle can be used to determine the conditions that need to be met for the vehicle to turn, and the road data of the bend can be used to determine the conditions that need to be met for the vehicle to pass through. Combining the turning data of the vehicle and the road data of the bend, judge whether the vehicle can pass through the bend, that is, judge whether the bend satisfies the first trigger condition.

[0120] In some embodiments, the road data of the bend includes at least one of the following: bend radius, bend curvature, bend width.

[0121] For the vehicle to pass through the bend, the road data of the bend needs to satisfy the minimum turning radius of the vehicle. Exemplarily, when determining whether the bend satisfies the minimum turning radius of the vehicle, the bend radius, bend curvature, or bend width of the bend needs to be considered.

[0122] The bend radius can represent the degree of bending of the bend, and can also be called the radius of curvature at a certain point on the bend, which is the reciprocal of the curvature at a certain point on the bend curve. The larger the bend radius, the flatter the degree of bending of the bend; the smaller the bend radius, the sharper the degree of bending of the bend. For example, if the bend radius of a road is less than 3.5 meters, it can be considered that the road belongs to a narrow bend.

[0123] The bend curvature can be used to describe the degree of bending of the bend at a certain point. The larger the curvature, the greater the degree of bending of the bend at that point; the smaller the curvature, the smaller the degree of bending of the bend at that point.

[0124] When judging whether the vehicle can pass through the bend, in addition to the bending condition of the bend needing to satisfy the turning radius of the vehicle, it is also necessary to ensure that the lane has sufficient width. If the lane width is insufficient, the vehicle may still collide with the road edge or obstacles when turning.

[0125] In some embodiments, the turning data of the vehicle includes the minimum turning radius.

[0126] The minimum turning radius of the vehicle can be used to determine the minimum space range required for the vehicle when turning. It can be understood that for different steering pivots, different minimum turning radii can correspond. For example, the minimum turning radius corresponding to the rear wheels of the vehicle as the steering pivot is less than the minimum turning radius corresponding to the center of the vehicle as the steering pivot. To ensure that the vehicle can safely pass through the curve, the minimum turning radius of the vehicle should be less than or equal to the actual radius of the curve.

[0127] In some embodiments, the turning data further includes the vehicle speed and the position of the vehicle in the lane. The vehicle speed affects the speed at which the vehicle passes through the curve and is related to the safe time for the vehicle to pass through the curve. The position of the vehicle in the lane affects the driving angle of the vehicle. When the vehicle is close to the edge of the lane, the driving angle of the vehicle needs to be adjusted to prevent the vehicle from colliding with the edge of the lane.

[0128] In some embodiments, the vehicle control method further includes: performing a steering prompt operation when the second trigger condition is satisfied; wherein, the steering prompt operation is used to prompt that the curve cannot be directly passed through.

[0129] The second trigger condition is a condition that triggers the vehicle's inability to pass through the curve. When the second trigger condition is satisfied, the vehicle is judged by the driver to adjust the driving strategy or drive away.

[0130] The steering prompt operation can be implemented by means of voice, text, or pictures, etc. The voice prompt can be played by the in-vehicle audio system, etc., and the text prompt or picture prompt can be displayed by an interaction module such as a display screen. The steering prompt content can be to prompt that the curve cannot be directly passed through; or to prompt the driver to drive away from the curve; it can also be to prompt the path planning. For example, when passing through the curve in the case of needing to reverse or other ways to adjust the steering pivot of the vehicle, the steering prompt operation can be used to prompt the planned path for the user to determine whether to execute.

[0131] In some embodiments, the second trigger condition includes at least one of the following: unable to pass through the curve based on the pivot steering operation, unable to pass through the curve.

[0132] Unable to pass through the curve based on the pivot steering operation can be that it is impossible to directly pass through the curve through one pivot steering operation and it is necessary to adjust the steering pivot by means of reversing, etc. Unable to pass through the curve can be that when the vehicle has not yet entered the curve, it is judged according to the driving data that the turning data of the curve cannot meet the turning radius of the vehicle.

[0133] In some embodiments, the driving control method further includes: controlling the vehicle to perform a steering wheel steering operation when the third trigger condition is satisfied.

[0134] The third triggering condition is to trigger the vehicle to steer according to the instruction of the steering wheel to perform a steering wheel steering operation. When the third triggering condition is triggered, it can be considered that the driver has the intention to take over. The vehicle control method in the embodiments of the present application is to control the vehicle to automatically drive through the vehicle control system. If the driver needs to control the vehicle by himself / herself during the vehicle driving process, the third triggering condition can be triggered to interrupt the pivot steering operation of the vehicle and perform the steering wheel steering operation.

[0135] In some embodiments, the third triggering condition includes at least one of the following: the acting torque of the steering wheel satisfies the torque change condition, and the pedal data of the brake pedal changes.

[0136] The third triggering condition can be triggered according to the acting force applied on the steering wheel or according to the pedal data of the brake pedal.

[0137] In some embodiments, the torque change condition includes at least one of the following: the acting torque is greater than the first threshold and has the same direction within the first control period, and the acting torque increases in the same direction within the second control period and is greater than the second threshold in the end time period of the second control period.

[0138] The acting torque can be the torque applied by the driver on the steering wheel. The same direction of the acting torque means that a force in one direction is continuously applied on the steering wheel. Both the first threshold and the second threshold can be the threshold of the acting torque on the steering wheel when performing the pivot steering operation, and the first threshold and the second threshold can be the same or different. The acting torque on the steering wheel being greater than the first threshold can indicate that the driver currently applies a large acting force on the steering wheel, and there may be an intention to take over. The first control period or the second control period can be the time period for monitoring the torque on the steering wheel, and the duration of the first control period and the duration of the second control period can be the same or different. By monitoring the acting torque of the steering wheel for a period of time, the reliability of the judgment of the third triggering condition can be ensured.

[0139] Exemplarily, the minimum time period for monitoring the acting torque of the steering wheel is one monitoring period. The first control period can include 5 monitoring periods, and the second control period can include 6 control periods. The torque change condition can be that the absolute value of the acting torque applied by the driver on the steering wheel within 5 consecutive monitoring periods is greater than the first threshold at the time of takeover and is in the same direction, or that the acting torque applied by the driver on the steering wheel continuously increases in the same direction within 6 consecutive monitoring periods, and the absolute value of the acting torque in the last monitoring period of these 6 monitoring periods is greater than the second threshold at the time of takeover.

[0140] In some embodiments, the pedal data includes the pedal opening.

[0141] The pedal opening can represent the angle when the pedal is depressed. Whether the brake pedal is depressed can be determined based on the pedal opening of the brake pedal. When the brake pedal is depressed, the third trigger condition is triggered, it is considered that the driver has the intention to take over, and the vehicle exits the pivot steering operation control and performs the steering wheel steering operation.

[0142] Next, a vehicle control method provided by an embodiment of the present application will be introduced and described by way of an example.

[0143] Please refer to Figure 2 the shown curve. This curve is a narrow and highly curved U-shaped bend. Assume that the turning radius of this curve is less than 3.5 meters, and the vehicle cannot pass through it normally by front-wheel steering.

[0144] In some embodiments, the vehicle travels forward from point P to point Q in the direction of the arrow in the figure. When passing through Figure 2 the shown curve, as Figure 3 shown, a vehicle control method is provided, including the following steps S310 to step S330.

[0145] For the convenience of description, in the embodiments of the present application, as Figure 2 shown, the left front wheel of the vehicle is set as wheel A, the right front wheel is set as wheel B, the left rear wheel is set as wheel C, and the right rear wheel is set as wheel D. The vehicle travels forward from point P to point Q. The bending direction of the curve is close to the right side of the vehicle. At this time, the first wheel can be the right rear wheel D of the vehicle, and the second wheel can be the left front wheel A, the right front wheel B, or the left rear wheel C that is different from the first wheel.

[0146] Step S310, determine whether the vehicle can directly pass through the curve according to the driving data.

[0147] When the vehicle enters the curve, it is at position 1. At this time, the radius curvature of the curve is determined according to the road data of the curve, and the current position, driving speed, and minimum turning radius of the vehicle are determined according to the turning data of the vehicle to judge whether the vehicle can directly pass through the curve.

[0148] Step S320, reduce the vehicle speed to prepare to enter the curve, and determine the predicted path according to the driving data.

[0149] In the case where it is determined that the vehicle cannot directly pass through the curve, the vehicle passes through position 2, controls to reduce the vehicle speed, and prepares to control the vehicle to perform the pivot steering operation. When it is judged that the curve is too narrow and the turning radius is too small to directly pass through, the vehicle speed is reduced to below 10 km / h to position 3 at the end of the straight road. At this time, the vehicle is about to enter the curve.

[0150] Step S330, when the first trigger condition is triggered, control the vehicle to perform the pivot steering operation.

[0151] The vehicle is driven by the front wheels and travels to positions 4 and 5 at a speed of 5 km / h. After reaching position 5, it is determined that the width of the road ahead and the turning radius cannot meet the requirements for normal front-wheel steering to pass through. The vehicle decelerates to 0, triggering the first trigger condition.

[0152] Since the front wheels of the vehicle cannot pass through the bend at the current position, lock the D wheel. Using the D wheel as the fulcrum, control the C wheel to turn counterclockwise, and the A and B wheels to turn clockwise. Then control the A, B, and C wheels to rotate forward together, so that the vehicle adjusts its driving angle clockwise according to the predicted path. Then drive forward at 5 km / h to positions 6 and 7. When the vehicle is driving, it is necessary to ensure that the right side of the vehicle does not collide with the inner side of the bend. Position 7 should meet the requirements of the minimum turning radius and width for the vehicle's fulcrum steering.

[0153] Then continue to use the D wheel as the fulcrum, control the A, B, and C wheels to turn clockwise and rotate forward together, so that the vehicle continues to turn clockwise according to the predicted path and drives to positions 8, 9, and 10 at a speed of 5 km / h. When the vehicle is driving, it is necessary to ensure that the right side of the vehicle does not collide with the inner side of the bend.

[0154] When the vehicle reaches position 10, the minimum turning radius of the vehicle's front-wheel steering can meet the passing conditions. The vehicle accelerates to 10 km / h by turning the front wheels to the right and drives out of the bend to positions 11 and 12.

[0155] When the fulcrum steering operation of the embodiment of the present application is executed, if the third trigger condition is triggered, that is, the driver intends to take over the turning operation, the vehicle control system will exit the fulcrum steering operation and execute the steering wheel steering operation.

[0156] The vehicle control method of the present application predicts the driving path of the vehicle based on driving data, improving the accuracy of path planning. When performing the fulcrum steering operation, using the first wheel as the fulcrum, it has good flexibility and allows the vehicle to complete the adjustment of the vehicle's direction and pass through the bend without the need to move the vehicle back and forth when there is only a very small space in front. At the same time, the embodiment of the present application also fully considers the driver's takeover intention. When the driver has the intention to take over, it increases the robustness of vehicle control, improves the adaptive ability of the vehicle control method, and achieves a good man-machine collaborative control effect.

[0157] According to the second aspect of the present application, the embodiment of the present application also provides a non-temporary computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it implements the steps of the above-mentioned voiceprint processing method. This non-temporary computer-readable storage medium has all the beneficial effects of the above-mentioned vehicle control method, and the present application will not elaborate here.

[0158] According to the third aspect of the present application, embodiments of the present application further provide a computer program product, including a computer program, which when executed by a processor, implements the above-mentioned vehicle control method and has all the beneficial effects of the above-mentioned voiceprint processing method. Details thereof are not described herein again in the present application.

[0159] According to the fourth aspect of the present application, embodiments of the present application further provide an electronic device, including: a memory and a processor, where a computer program is stored on the memory; the processor is configured to execute the computer program in the memory to implement the steps of the above-mentioned voiceprint processing method. This electronic device has all the beneficial effects of the above-mentioned vehicle control method. Details thereof are not described herein again in the present application.

[0160] A computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. The present application does not make specific limitations thereto. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having 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 or 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.

[0161] In some embodiments of the present application, the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device.

[0162] The above-mentioned computer-readable storage medium may be included in the above-mentioned electronic device; or it may exist separately without being assembled into the electronic device. The above-mentioned computer-readable storage medium carries one or more programs, and when the above-mentioned one or more programs are executed by the electronic device, the electronic device is caused to: during the process of the vehicle passing through a curve, control the vehicle to perform a pivot steering operation; wherein, the pivot steering operation refers to using the first wheel of the vehicle as a pivot to control the steering attitude of the second wheel of the vehicle.

[0163] Computer program code for performing the operations of some embodiments of the present application may be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network (including a Local Area Network (LAN) or a Wide Area Network (WAN)), or may be connected to an external computer (for example, by connecting through an Internet service provider via the Internet).

[0164] According to the fifth aspect of the present application, embodiments of the present application further provide a vehicle control system. The vehicle control system includes a controller 100. The controller 100 is configured to control the vehicle to perform a pivot steering operation during the process of the vehicle passing through a curve. Among them, the pivot steering operation refers to controlling the second wheel 220 of the vehicle to turn with the first wheel 210 as a pivot.

[0165] Please refer to Figure 4 , Figure 4 shown is a schematic structural diagram of a vehicle control system according to an embodiment of the present application. The controller 100 is disposed in the vehicle control system and is configured to control the vehicle to perform a pivot steering operation during the process of passing through a curve. The pivot steering operation refers to a steering posture in which the second wheel 220 of the vehicle takes the first wheel 210 as a pivot, so that the vehicle turns under the drive of the second wheel 220.

[0166] In some embodiments, as Figure 5 shown in the schematic diagram of the vehicle control system, the vehicle control system includes a first motor 310. The controller 100 is configured to control the first wheel 210 through the first motor 310, so that the pivot steering operation takes the first wheel 210 as a pivot. The first motor 310 is connected to the controller 100 and the first wheel 210.

[0167] The first motor 310 may be a distributed in-wheel motor. The distributed in-wheel motor is connected to the first wheel 210 to control the state of the first wheel 210, so as to take the first wheel 210 as a pivot during the pivot steering operation.

[0168] In some embodiments, please continue to refer to Figure 5, the vehicle control system includes a second motor 320. The controller 100 is configured to control the steering attitude of the second wheel 220 through the second motor 320 during the pivot steering operation. The second motor 320 is connected to the controller 100 and the second wheel 220.

[0169] The type of the second motor 320 may be the same as or different from that of the first motor 310. For example, the second motor 320 may also be a distributed in-wheel motor to control the steering attitude of the second wheel 220 during the pivot steering operation. Exemplarily, the second wheel 220 may be a wheel located on the front side of the vehicle traveling direction or a wheel located on the rear side of the vehicle traveling direction, and the second motor 320 is provided corresponding to the second wheel.

[0170] When the second wheel 220 includes multiple wheels, the second motor 320 may also correspondingly include multiple ones. In some embodiments, the second wheel 220 includes a wheel located on the front side of the vehicle traveling direction and a wheel located on the rear side of the vehicle traveling direction. The second motor 320 includes a motor for controlling the wheel located on the front side of the vehicle traveling direction among the second wheels and a motor for controlling the wheel located on the rear side of the vehicle traveling direction among the second wheels.

[0171] When the second wheel 220 includes multiple ones, different second wheels 220 may steer in different directions. For example, the wheel located on the front side of the vehicle traveling direction and the wheel located on the rear side of the vehicle traveling direction may steer in the same direction or in different directions. To improve the control effect on the wheels, second motors 320 are respectively provided for the wheel located on the front side of the vehicle traveling direction and the wheel located on the rear side of the vehicle traveling direction to respectively control different second wheels 220 to perform different steering attitudes through different second motors 320.

[0172] In some embodiments, the vehicle control system includes a first motor 310. Among them, the controller 100 is configured to: control the first wheel 210 through the first motor 310 so that the pivot steering operation is pivoted on the first wheel 210. The first wheel 210 includes a wheel on the rear side of the traveling direction, and the first motor and the second motor are independent of each other.

[0173] The first motor 310 controls the first wheel 210, and the second motor 320 controls the second wheel 220. Exemplarily, when both the first wheel 210 and the second wheel 220 are wheels at the rear side of the vehicle driving direction, the first motor 310 and the second motor 320 are two independent motors, respectively used to control the first wheel 210 and the second wheel 220. The types of the independently arranged first motor 310 and second motor 320 may be the same, such as both being in-wheel motors, or different. The embodiments of the present application do not limit the types of the motors. At this time, the two wheels at the front side of the vehicle driving direction can be controlled by one third motor, or can be controlled by independent third and fourth motors respectively to control each wheel located at the front side of the vehicle driving direction.

[0174] In some embodiments, the first motor 310 and the second motor 320 can also be arranged in the steering actuators of the wheels, so that the actuators control the wheels through the rotation or linear motion of the motors. For example, the first motor 310 is arranged in the steering actuator of the first wheel 210, and the second motor 320 is arranged in the steering actuator of the second wheel 220. When the second wheel 220 includes multiple wheels, the steering actuators corresponding to the second motor 320 can also correspondingly include multiple ones to respectively control the corresponding second wheels 220 to execute different steering postures through different steering actuators.

[0175] In some embodiments, as Figure 6 shown in the schematic diagram of the vehicle control system, the vehicle control system further includes a data acquisition device 400. The data acquisition device 400 is used to acquire the driving data of the vehicle.

[0176] The controller 100 predicts the predicted path of the vehicle's future driving according to the driving data acquired by the data acquisition device 400, and can also judge whether the vehicle can pass through a curve according to the data acquired by the data acquisition device 400.

[0177] Exemplarily, the controller 100 can predict the predicted trajectory of the vehicle according to the driving data acquired by the data acquisition device 400, and when it monitors that the curve is too narrow, control the first wheel 210 and the second wheel 220 to perform a pivot steering operation according to the predicted path. For example, determine the locking operation of the first wheel 210, determine the target steering angle of the second wheel 220 according to the predicted path, and send a control request for the wheels to the first motor 310 and the second motor 320 to control the vehicle to turn along the predicted path.

[0178] In some embodiments, the data acquisition device 400 includes at least one of the following: sensors, radars, cameras, positioning systems.

[0179] The sensor can be a vehicle body control sensor or an environmental monitoring sensor. The vehicle body control sensor can obtain the attitude or driving state of the vehicle, such as vehicle speed, steering angle, steering angular velocity, etc. The environmental monitoring sensor can determine obstacle information, road feeling data, etc.

[0180] The radar can be a lidar. The radar and the camera can collect data around the vehicle, such as lane width, lane curvature, obstacles, lane driving signs, pedestrian detection, etc. The positioning system can provide map information of the vehicle's location to obtain a predicted path.

[0181] In some embodiments, please continue to refer to Figure 6 , the vehicle control system further includes a multimedia device 500. The multimedia device 500 is used to perform a steering prompt operation.

[0182] The multimedia device 500 can be a display screen for displaying text or picture steering prompts and receiving the driver's prompt feedback. The multimedia device 500 can also be a speaker for playing voice prompts.

[0183] Exemplarily, if the vehicle control system determines based on the driving data collected by the data acquisition device 400 that the upcoming bend is indeed too narrow, such as the turning radius is less than 3.5 meters and it is impossible to pass through a continuous pivot steering operation in one go and the vehicle's position needs to be adjusted by reversing and moving forward, the vehicle control system will prompt the driver through the multimedia device 500 and display the planned path for getting out of trouble, asking the driver whether to execute. If the vehicle control system determines that there is no passable planned path for the upcoming bend, it can also prompt the driver to reverse and drive away through the multimedia device 500.

[0184] Next, a vehicle control method will be introduced and described by taking an example in combination with the vehicle control system of the embodiments of the present application.

[0185] Figure 7 Shown is a flowchart of the vehicle control method in combination with the vehicle control system. As Figure 7 shown, the vehicle control method includes the following steps S710 to step S760.

[0186] Step S710, the driver controls the vehicle to drive.

[0187] Step S720, the data acquisition device collects driving data.

[0188] The driving data includes at least one of the following: vehicle state data, driving environment data, map data.

[0189] Step S730, the controller performs path planning based on the collected driving data.

[0190] Step S740, the controller determines whether a narrow and sharp bend appears.

[0191] Judge whether a narrow bend appears according to the path planning. When a narrow bend appears and the vehicle cannot pass directly, the first trigger condition is triggered, and the pivot steering operation in step S750 is executed to turn the corner. When no narrow bend appears, continue to control the vehicle to drive by the driver. When the vehicle cannot pass through the bend, the second trigger condition is triggered, and a prompt is given for inability to pass.

[0192] In step S750, the controller executes the pivot steering operation to turn the corner.

[0193] In step S760, the controller judges whether the driver has an intention to take over.

[0194] The driver's intention to take over is determined by judging whether the third trigger condition is triggered. When the third trigger condition is triggered, it is judged that the driver has an intention to take over, and step S770 is executed. When the third trigger condition is not triggered, it is judged that the driver does not have an intention to take over, and the pivot steering operation is executed until the vehicle passes through the bend.

[0195] In step S770, the driver controls the vehicle to execute steering wheel steering through the steering wheel.

[0196] The flowcharts and block diagrams in the accompanying drawings of the embodiments of the present application illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, the program segment, or the part of code contains one or more executable instructions for implementing the specified logical function.

[0197] It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings.

[0198] For example, two consecutively represented blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0199] The units described in some embodiments of the present application can be implemented in software or in hardware. The described units can also be provided in a processor.

[0200] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that can be used include: Field Programmable Gate Array (FPGA), Application Specific Integrated Circuit (ASIC), Application Specific Standard Parts (ASSP), System on Chip (SOC), Complex Programmable Logic Device (CPLD), and so on.

[0201] According to a sixth aspect of the present application, as Figure 8 shown, an embodiment of the present application further provides a vehicle 800, which includes the above-mentioned electronic device or includes the above-mentioned vehicle control system. The vehicle has all the beneficial effects of the above-mentioned electronic device or vehicle control system, etc., and the present application will not elaborate herein.

[0202] The vehicle can be a fuel vehicle, a plug-in hybrid vehicle, a new energy vehicle, etc., and the present application does not make specific limitations thereto.

[0203] In the description of the present application, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of the present application, "a plurality of" means two or more, unless otherwise specifically defined.

[0204] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0205] Among the embodiments, embodiments, and related technical features of the present application, they can be combined and replaced with each other without conflict.

[0206] The above are only preferred embodiments of the present application and do not impose any form of limitation on the present application. Although in the embodiments of the present application, the descriptions of the respective embodiments have their own emphases, and for parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application still fall within the scope of the technical solution of the present application.

Claims

1. A vehicle control method, characterized in that, The method includes: During the process of the vehicle passing through a curve, controlling the vehicle to perform pivot steering operation; Wherein, the pivot steering operation refers to controlling the second wheel of the vehicle to steer with the first wheel as the pivot.

2. The method according to claim 1, wherein The first wheel is the wheel of the vehicle that is closer to the inner side of the curve.

3. The method according to claim 1, wherein The first wheel is located at the rear side of the driving direction of the vehicle.

4. The method according to any one of claims 1 to 3, characterized in that The second wheel includes the wheel located at the front side of the driving direction of the vehicle.

5. The method according to claim 4, wherein Controlling the vehicle to perform pivot steering operation includes: Controlling the second wheel to steer in a first direction with the first wheel as the pivot; Wherein, the first direction is consistent with the bending direction of the curve.

6. The method according to any one of claims 1 to 5, characterized in that, The second wheel includes the wheel located at the rear side of the driving direction of the vehicle.

7. The method according to claim 6, wherein Controlling the vehicle to perform pivot steering operation includes: Controlling the second wheel to steer in a first direction with the first wheel as the pivot; Wherein, the first direction is consistent with the bending direction of the curve.

8. The method according to claim 7, wherein Controlling the second wheel to steer in a first direction with the first wheel as the pivot includes: When the wheel located at the front side of the driving direction of the vehicle can pass through the curve, controlling the second wheel to steer in a first direction with the first wheel as the pivot.

9. The method according to claim 6, wherein Controlling the vehicle to perform pivot steering operation includes: Controlling the second wheel to steer in a second direction with the first wheel as the pivot; Wherein, there is a preset angle between the second direction and the bending direction of the curve.

10. The method according to claim 9, characterized in that, Controlling the second wheel to steer in a second direction with the first wheel as the pivot includes: When the wheel located at the front side of the driving direction of the vehicle cannot pass through the curve, controlling the second wheel to steer in a second direction with the first wheel as the pivot.

11. The method according to claim 6, characterized in that, Controlling the vehicle to perform pivot steering operation includes: Controlling the second wheel to perform continuous multiple steering with the first wheel as the pivot; Wherein, there are two adjacent steers in the continuous multiple steers that are respectively steering in the first direction and the second direction; the first direction is consistent with the bending direction of the curve, and there is a preset angle between the second direction and the bending direction of the curve.

12. The method according to claim 11, wherein Controlling the second wheel to perform continuous multiple steering with the first wheel as the pivot includes: When the wheel located at the front side of the driving direction of the vehicle cannot pass through the curve, after controlling the second wheel to steer in the second direction with the first wheel as the pivot, then steering in the first direction.

13. The method according to claim 1, wherein Controlling the vehicle to perform pivot steering operation includes: According to the predicted path, controlling the vehicle to perform pivot steering operation.

14. The method according to claim 13, wherein, The method further includes: Determining the predicted path according to the driving data of the vehicle.

15. The method according to claim 14, wherein The driving data includes at least one of the following: vehicle state data, driving environment data, map data.

16. The method according to claim 1, wherein Controlling the vehicle to perform pivot steering operation includes: When the first trigger condition is satisfied, controlling the vehicle to perform pivot steering operation.

17. The method according to claim 16, wherein The first trigger condition includes that the vehicle cannot pass through the curve based on the steering wheel steering operation.

18. The method according to claim 16, characterized in that, The method further includes: Based on the road data of the bend and the turning data of the vehicle, determine whether the bend meets the first trigger condition.

19. The method according to claim 18, wherein The road data includes at least one of the following: bend radius, bend curvature, bend width.

20. The method according to claim 18, wherein The turning data includes the minimum turning radius.

21. The method according to claim 1, wherein The method further includes: When the second trigger condition is met, perform a steering prompt operation; wherein, the steering prompt operation is used to prompt that the bend cannot be directly passed through.

22. The method according to claim 21, wherein The second trigger condition includes at least one of the following: unable to pass through the bend based on the pivot steering operation, unable to pass through the bend.

23. The method according to claim 1, wherein The method further includes: When the third trigger condition is met, control the vehicle to perform a steering wheel steering operation.

24. The method according to claim 23, characterized in that The third trigger condition includes at least one of the following: the acting torque of the steering wheel meets the torque change condition, the pedal data of the brake pedal changes.

25. The method according to claim 24, characterized in that, The torque change condition includes at least one of the following: the acting torque is greater than the first threshold and the direction of the acting torque is the same within the first control period; the acting torque increases in the same direction within the second control period and the acting torque is greater than the second threshold at the end time period of the second control period.

26. The method according to claim 24, wherein The pedal data includes the pedal opening.

27. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the vehicle control method according to any one of claims 1 to 26.

28. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the vehicle control method according to any one of claims 1 to 26.

29. An electronic device, characterized in that, It includes: a memory on which a computer program is stored; a processor for executing the computer program in the memory to implement the vehicle control method according to any one of claims 1 to 26.

30. A vehicle control system, characterized in that, The vehicle control system includes a controller (100); wherein, the controller (100) is configured to: during the process of the vehicle passing through a bend, control the vehicle to perform a pivot steering operation; wherein, the pivot steering operation refers to controlling the second wheel (220) of the vehicle to turn with the first wheel (210) as a pivot.

31. The vehicle control system according to claim 30, wherein, The vehicle control system includes a first motor (310); wherein, the controller (100) is configured to: control the first wheel (210) through the first motor (310) so that the pivot steering operation takes the first wheel (210) as a pivot.

32. The vehicle control system according to claim 30 or 31, characterized in that, The vehicle control system includes a second motor (320); wherein, the controller (100) is configured to: during the pivot steering operation, control the second wheel (220) to turn with the first wheel as a pivot through the second motor (320).

33. The vehicle control system according to claim 32, wherein the second wheel (220) includes a wheel located at the front side of the traveling direction of the vehicle and a wheel located at the rear side of the traveling direction of the vehicle; the second motor (320) includes a motor for controlling the wheel located at the front side of the traveling direction of the vehicle among the second wheels and a motor for controlling the wheel located at the rear side of the traveling direction of the vehicle among the second wheels.

34. The vehicle control system according to claim 33, wherein The vehicle control system includes a first motor (310); wherein, The controller (100) is configured to: control the first wheel (210) via the first motor (310) such that the pivot steering operation pivots about the first wheel (210), where the first wheel (210) includes a wheel at the rear side in the traveling direction; The first motor and the second motor are independent of each other.

35. The vehicle control system according to claim 30, wherein The vehicle control system further includes a data acquisition device (400); wherein, The data acquisition device (400) is configured to: acquire the driving data of the vehicle.

36. The vehicle control system according to claim 35, wherein, The data acquisition device (400) includes at least one of the following: a sensor, a radar, a camera, a positioning system.

37. The vehicle control system according to claim 30, characterized in that, The vehicle control system further includes a multimedia device (500); wherein, The multimedia device (500) is configured to: perform a steering prompt operation.

38. A vehicle, characterized in that, Comprising the electronic device according to claim 29, or the vehicle control system according to any one of claims 30 to 37.

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