Vehicle control method and device, electronic equipment, storage medium and vehicle

Abstract

The embodiment of the invention provides a vehicle control method and device, electronic equipment, a storage medium and a vehicle, and the method comprises the steps that a compasses U-turn instruction and vehicle parameters are obtained, and the compasses U-turn instruction comprises a rotating center wheel and a target rotating angle; responding to the compass turning-around instruction, and determining the braking torque of the rotating center wheel; determining the total torque demand of the vehicle according to the vehicle parameters; according to the total torque requirement, the driving torque of driving wheels is determined, and the driving wheels are the wheels except the rotating center wheel in the four wheels of the vehicle; the rotation center wheel is controlled according to the target rotation angle and the brake torque while the drive wheel is controlled according to the target rotation angle and the drive torque. The technical problem that in the prior art, for a front wheel non-independent drive vehicle and a rear wheel independent drive vehicle, an effective control strategy is lacked when the vehicle moving or parking requirement in a narrow space is met is solved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of vehicle intelligent control technology, and in particular, to a vehicle control method, device, electronic device, storage medium, and vehicle. Background Art

[0002] In the current field of vehicle steering technology, the four-wheel independent drive architecture has attracted much attention due to its ability to achieve on-the-spot steering. This technology uses a separate motor for each wheel, enabling independent torque control. This allows for U-turns when the left and right wheels rotate in opposite directions, without the need for a traditional steering system. However, four-wheel independent drive technology has significant limitations, primarily due to high hardware costs and complex control methods. This limits its application to only certain luxury models, hindering its widespread adoption in the broader vehicle market.

[0003] For more affordable tri-motor vehicles (i.e., vehicles with non-independent front-wheel drive and independent rear-wheel drive and rear-wheel independent steering), there is currently no systematic control method for turning around corners. These vehicles typically use the front wheels for conventional steering, while the rear wheels are driven by independent motors, allowing for greater maneuverability and a smaller turning radius. However, when maneuvering or parking in confined spaces, the lack of effective control strategies prevents the full utilization of the rear-wheel independent drive and steering to achieve turning around corners, limiting their practicality, especially in urban driving environments.

[0004] In summary, the existing technology addresses the technical problem of a lack of effective control strategies for vehicles with non-independent front wheel drive and independent rear wheel drive when facing the need to maneuver or park in a narrow space. Summary of the Invention

[0005] The embodiments of the present application provide a vehicle control method, device, electronic device, storage medium and vehicle, aiming to improve the problem of the existing technology for vehicles with non-independent front-wheel drive and independent rear-wheel drive, which lacks an effective control strategy when facing the need to move or park in a narrow space.

[0006] According to one aspect of an embodiment of the present application, a vehicle control method is provided, including: obtaining a compass turn instruction and vehicle parameters, wherein the compass turn instruction includes a rotating center wheel and a target rotation angle; determining the braking torque of the rotating center wheel in response to the compass turn instruction; determining the total torque requirement of the vehicle based on the vehicle parameters; determining the driving torque of the driving wheels based on the total torque requirement, wherein the driving wheels are the wheels of the vehicle other than the rotating center wheel; controlling the rotating center wheel based on the target rotation angle and the braking torque, and controlling the driving wheels based on the target rotation angle and the driving torque.

[0007] The embodiment of the present application realizes precise control of the vehicle's compass turn action through accurate calculation of torque and braking force. First, after receiving the compass turn command, it can quickly analyze and determine the rotating center wheel and its required braking torque to ensure the stability of the rotating fulcrum. Secondly, according to the actual state and parameters of the vehicle, the total torque required to complete the specified rotation angle is calculated, and then reasonably distributed to the non-rotating wheels, so that they can efficiently generate rotational torque, overcome inertia and friction, and realize rapid steering of the vehicle. Through the above scheme, the turning radius of the vehicle in a small space is significantly reduced, and the maneuverability and flexibility of the vehicle are enhanced, especially in the scene of moving or parking the car, which improves the user's convenience and driving experience. This solves the problem that the existing technology lacks an effective control strategy for vehicles with non-independent drive of the front wheels and independent drive of the rear wheels when facing the needs of moving or parking in a narrow space.

[0008] Optionally, determining the braking torque of the rotating center wheel in response to a compass turn instruction includes: obtaining the static friction coefficient between the rotating center wheel and the ground, the vertical load of the rotating center wheel and the effective rolling radius of the tire; and determining the braking torque based on the static friction coefficient, the vertical load of the rotating center wheel and the effective rolling radius of the tire.

[0009] Optionally, determining the total torque requirement of the vehicle based on the vehicle parameters includes: determining the vehicle's moment of inertia about the fulcrum based on the vehicle mass and the distance from the vehicle's center of mass to the fulcrum; determining the total torque requirement based on the vehicle's moment of inertia about the fulcrum, the vehicle's angular acceleration, the tire-ground friction coefficient, the tire's vertical load, and the tire's effective rolling radius; wherein the vehicle mass, the distance from the vehicle's center of mass to the fulcrum, the vehicle's angular acceleration, the tire's ground friction coefficient, the tire's vertical load, and the tire's effective rolling radius are included in the vehicle parameters.

[0010] Optionally, determining the driving torque of the driving wheels based on the total torque demand includes: obtaining the vehicle wheelbase, vehicle track and vehicle rear wheel steering angle; determining the driving torque constraint condition based on the total torque demand, vehicle wheelbase, vehicle track and vehicle rear wheel steering angle; determining the driving torque based on the driving torque constraint condition and preset vehicle body stability condition.

[0011] Optionally, before controlling the rotating center wheel according to the target rotation angle and braking torque, and controlling the driving wheel according to the target rotation angle and driving torque, the method also includes: determining the rotation direction according to the rotating center wheel in response to a compass turn instruction; and controlling the steering angle of the driving wheel to a preset target angle according to the rotation direction.

[0012] Optionally, in response to the compass turning instruction, determining the braking torque of the rotating center wheel comprises: in response to the compass turning instruction, obtaining a vehicle turning function state; and in response to the vehicle turning function state being a turning function standby state, determining the braking torque of the rotating center wheel, wherein the turning function standby state is used to represent that the vehicle door is in a closed state, the safety belt is in a fastened state, and the vehicle is in a parking gear.

[0013] Optionally, the vehicle control method further comprises: obtaining camera data and radar data during the process of controlling the rotating center wheel according to the target rotation angle and the braking torque, and controlling the driving wheel according to the target rotation angle and the driving torque; determining a distance between the vehicle and an obstacle according to the camera data and the radar data; and in response to the distance being less than a preset distance, controlling the vehicle to stop.

[0014] According to an aspect of an embodiment of the present application, a vehicle control device is provided, comprising: an obtaining module configured to obtain a compass turning instruction and vehicle parameters, wherein the compass turning instruction comprises a rotating center wheel and a target rotation angle; a first determining module configured to determine a braking torque of the rotating center wheel in response to the compass turning instruction; a second determining module configured to determine a total torque demand of the vehicle according to the vehicle parameters; a third determining module configured to determine a driving torque of a driving wheel according to the total torque demand, wherein the driving wheel is a wheel of the vehicle other than the rotating center wheel; and a control module configured to control the rotating center wheel according to the target rotation angle and the braking torque, and control the driving wheel according to the target rotation angle and the driving torque.

[0015] According to another aspect of an embodiment of the present application, an electronic device is also provided, comprising a memory and a processor, the memory storing a computer program, and the processor being configured to run the computer program to perform the vehicle control method in any of the above.

[0016] According to another aspect of an embodiment of the present application, a computer readable storage medium is also provided, the computer readable storage medium storing a computer program, and the computer program being configured to perform the vehicle control method in any of the above when running on a computer or a processor.

[0017] According to another aspect of an embodiment of the present application, a vehicle is also provided, comprising a memory and a processor, the memory storing an executable program, and the processor being configured to run the executable program to perform the vehicle control method in any of the above. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a flowchart of a vehicle control method provided by an embodiment of the present application;

[0019] Figure 2 is a schematic diagram of wheel driving control provided by an embodiment of the present application;

[0020] Figure 3 is a vehicle U-turn function state switching schematic diagram provided by an embodiment of the present application;

[0021] Figure 4 is a vehicle control method architecture schematic diagram provided by an embodiment of the present application;

[0022] Figure 5 is a structural diagram of a vehicle control device provided by an embodiment of the present application;

[0023] Figure 6 is a structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the technical problems, technical solutions and beneficial effects of the present application clearer, the present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application.

[0025] It should be noted that the terms "first", "second", and the like in the description, claims, and above-mentioned drawings of the present application are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0026] The embodiment of the present application provides a vehicle control method, comprising: acquiring a compass U-turn instruction and vehicle parameters, wherein the compass U-turn instruction comprises a rotation center wheel and a target rotation angle; in response to the compass U-turn instruction, determining a braking torque of the rotation center wheel; determining a total torque demand of the vehicle according to the vehicle parameters; determining a driving torque of a driving wheel according to the total torque demand, wherein the driving wheel is a wheel other than the rotation center wheel among four wheels of the vehicle; controlling the rotation center wheel according to the target rotation angle and the braking torque, and controlling the driving wheel according to the target rotation angle and the driving torque.

[0027] The above-mentioned vehicle control method provided by the embodiment of the present application achieves the following technical effects: The embodiment of the present application realizes precise control of the vehicle's compass turn action through accurate torque and braking force calculation. First, after receiving the compass turn instruction, it can quickly analyze and determine the rotating center wheel and its required braking torque to ensure the stability of the rotating fulcrum. Secondly, according to the actual state and parameters of the vehicle, the total torque required to complete the specified rotation angle is calculated, and then reasonably distributed to the non-rotating wheels, so that they can efficiently generate rotational torque, overcome inertia and friction, and realize rapid steering of the vehicle. Through the above-mentioned scheme, the turning radius of the vehicle in a small space is significantly reduced, and the maneuverability and flexibility of the vehicle are enhanced, especially in the scene of moving or parking the car, which improves the user's convenience and driving experience. This solves the problem that the existing technology lacks an effective control strategy for vehicles with non-independent drive of the front wheels and independent drive of the rear wheels when facing the needs of moving or parking in a narrow space.

[0028] It should be noted that the following description of the embodiments of the present invention is an illustrative expansion of the present invention by taking the vehicle system in the vehicle as the execution subject.

[0029] This application embodiment provides a vehicle control method, please refer to Figure 1 , including the following steps:

[0030] Step S101 , obtaining a compass turn instruction and vehicle parameters, wherein the compass turn instruction includes rotating a central wheel and a target rotation angle.

[0031] In this step, "Get Compass Turn Command" indicates that the vehicle controller has received a user instruction to execute a compass turn, input via the multimedia screen or other means. "Vehicle Parameters" include, but are not limited to, the vehicle's track width, wheel rolling radius, vehicle mass, wheelbase, and wheel vertical load. These parameters provide the data foundation for subsequent torque calculations. The user-defined "Rotation Center Wheel" specifies the front wheel around which the vehicle rotates, and the "Target Rotation Angle" defines the desired rotation angle, which is the core objective of the compass turn.

[0032] Step S102 : In response to the compass turn instruction, determining the braking torque of the rotating central wheel.

[0033] The "braking torque of the rotating center wheel" is a key parameter to ensure the stable turning action of the compass.

[0034] For example, the critical braking torque required to prevent the fixed wheel from slipping, or braking torque, can be calculated based on the static friction coefficient between the fixed wheel and the ground, the vertical load on the fixed wheel, and the effective rolling radius of the tire. This calculation ensures that the rotating center wheel remains stationary during a compass turn, providing a stable fulcrum for the vehicle to rotate around.

[0035] Step S103, determining the total torque demand of the vehicle according to the vehicle parameters.

[0036] The "total torque demand" includes two parts: the inertial torque and the friction resistance torque. The inertial torque depends on the vehicle mass, the radius of rotation, and the rotational speed, while the friction resistance torque is related to the friction coefficient between the tire and the ground, the vertical load of the wheel, and the effective rolling radius of the tire. By calculating the moment of inertia of the vehicle around the center of rotation and the angular acceleration, as well as the friction resistance torque of each wheel, the total torque required to complete the target rotation angle can be obtained, which is the basis for ensuring the smooth performance of the compass turning action.

[0037] Step S104, determining the drive torque of the drive wheels according to the total torque demand, wherein the drive wheels are the wheels of the vehicle other than the center of rotation wheel.

[0038] The "drive torque of the drive wheels" is allocated based on the "total torque demand". The drive wheels, i.e. the rear wheels and the non-rotating front wheels of the vehicle, need to be optimally distributed according to the current attitude of the vehicle, the adhesion conditions of each wheel, and the total torque demand, to ensure that the two rear wheels can generate sufficient rotational torque while avoiding rapid slipping or vehicle instability. This process needs to consider the kinematic parameters of the vehicle, the distance from the center of mass to the rotation fulcrum, and the steering angle of the wheels, etc., to achieve the best power output during compass turning.

[0039] Step S105, controlling the center of rotation wheel according to the target rotation angle and the braking torque, and controlling the drive wheels according to the target rotation angle and the drive torque.

[0040] In this step, the "target rotation angle", "braking torque" and "drive torque" together determine the compass turning action of the vehicle. By precisely controlling the braking system to keep the center of rotation wheel fixed, and controlling the drive motor output torque to make the drive wheels rotate in different directions and at different speeds, the vehicle can rotate around the center of rotation wheel to the angle specified by the user. This control process needs to monitor the actual rotation angle of the vehicle in real time, and adjust the torque and driving direction of the drive wheels in time to ensure that the vehicle rotates smoothly and controllably according to the preset path.

[0041] For example, referring to Figure 2 , for part A in Figure 2 , the left front wheel is the braking wheel, and when the vehicle rotates counterclockwise, the left rear wheel and the right rear wheel form an "eight" shape, and the left rear wheel rotates backward, and the right rear wheel and the right front wheel rotate forward. For part B in Figure 2 , the right front wheel is the braking wheel, and when the vehicle rotates clockwise, the left rear wheel and the right rear wheel form an "eight" shape, and the left rear wheel and the left front wheel rotate forward, and the right rear wheel rotates backward. For part C in Figure 2The left front wheel is the braking wheel, when the vehicle rotates clockwise, the left rear wheel and the right rear wheel are in the shape of "8", and the left rear wheel rotates forward, and the right rear wheel and the right front wheel rotate backward. Figure 2 The right front wheel is the braking wheel, when the vehicle rotates counterclockwise, the left rear wheel and the right rear wheel are in the shape of "8", and the left rear wheel and the left front wheel rotate backward, and the right rear wheel rotates forward.

[0042] It can be understood that the rotating center wheel is the braking wheel in the vehicle, and the remaining wheels are driving wheels. Figure 2

[0043] The embodiments of the present application realize accurate control of the vehicle compass U-turn action through accurate torque and braking force calculation. First, after receiving the compass U-turn instruction, the rotating center wheel and the required braking torque thereof can be quickly analyzed and determined to ensure the stability of the rotating fulcrum. Second, according to the actual state and parameters of the vehicle, the total torque required to complete the specified rotation angle is calculated, and then reasonably distributed to the non-rotating wheels, so that they can efficiently generate a rotating torque to overcome inertia and friction, thereby realizing rapid steering of the vehicle. Through the foregoing scheme, the steering radius of the vehicle in a small space is significantly reduced, the maneuverability and flexibility of the vehicle are enhanced, and in particular in the context of moving or parking, the user's convenience and driving experience are improved. Further, the problem that the prior art lacks effective control strategies when facing the demand for moving or parking in a narrow space for a vehicle with front-wheel non-independent drive and rear-wheel independent drive is solved.

[0044] Optionally, according to the response to the compass U-turn instruction, the braking torque of the rotating center wheel comprises: obtaining the static friction coefficient between the rotating center wheel and the ground, the vertical load of the rotating center wheel and the effective rolling radius of the tire; and determining the braking torque according to the static friction coefficient, the vertical load of the rotating center wheel and the effective rolling radius of the tire.

[0045] The static friction coefficient describes the friction strength between the rotating center wheel and the ground contact surface in a static state, and is a key parameter for determining whether the fixed wheel can remain stable when the vehicle performs a compass U-turn. Accurate acquisition of the static friction coefficient ensures that the calculation of the braking torque is more accurate, avoids unnecessary sliding of the rotating center wheel during the compass U-turn process, and enhances the controllability and safety of the vehicle compass U-turn action.

[0046] The vertical load of the rotating center wheel refers to the force vertically acting on the rotating center wheel when the vehicle is stationary, which is determined by the weight and load distribution of the vehicle. The vertical load is directly related to the contact condition between the rotating center wheel and the ground, and further affects the size of the braking torque. Using the vertical load of the rotating center wheel to calculate the braking torque helps to achieve consistent compass U-turn effect under different load conditions, and improves the adaptability and reliability of the embodiments of the present application.

[0047] ​The effective rolling radius of a tire refers to its actual rolling radius when in contact with the ground and bearing the vehicle's vertical load. It influences the conversion between braking torque and braking force. Taking the effective rolling radius into account allows for more realistic braking torque calculations, providing more precise braking control during compass turns and ensuring smooth execution.

[0048] Based on the above parameters, namely the static friction coefficient between the rotating center wheel and the ground, the vertical load of the rotating center wheel, and the effective rolling radius of the tire, the embodiment of the present application can calculate the exact braking torque required to fix the rotating center wheel. For example, the calculation formula is as follows:

[0049] T 旋转中心轮 =μ 静态 ·F z旋转中心轮 ·R 轮

[0050] Among them, T 旋转中心轮 : Critical braking torque of the rotating center wheel; μ 静态 : static friction coefficient between the rotating center wheel and the ground; F z旋转中心轮 : Fixed wheel vertical load, R 轮 : Tire effective rolling radius.

[0051] Through the above steps, the embodiment of the present application can accurately calculate the braking torque required to fix the rotating center wheel. When the vehicle performs a compass turn, the rotating center wheel can be stably fixed, providing a reliable fulcrum for the vehicle to rotate around it, thereby ensuring the efficiency and safety of the compass turn.

[0052] Optionally, determining the total torque requirement of the vehicle based on the vehicle parameters includes: determining the vehicle's moment of inertia about the fulcrum based on the vehicle mass and the distance from the vehicle's center of mass to the fulcrum; determining the total torque requirement based on the vehicle's moment of inertia about the fulcrum, the vehicle's angular acceleration, the tire-ground friction coefficient, the tire's vertical load, and the tire's effective rolling radius; wherein the vehicle mass, the distance from the vehicle's center of mass to the fulcrum, the vehicle's angular acceleration, the tire's ground friction coefficient, the tire's vertical load, and the tire's effective rolling radius are included in the vehicle parameters.

[0053] The vehicle's moment of inertia about the pivot point reflects how hard the vehicle resists rotation about the central wheel (pivot point). Its calculation is based on the vehicle's mass and the distance from the center of mass to the pivot point. Accurate calculation of the moment of inertia provides the data foundation for calculating the total torque requirement.

[0054] Vehicle angular acceleration describes the rate of change of angle per unit time as the vehicle rotates about its central wheel. It is a key factor in determining the vehicle's rotational speed. Taking this into account helps determine the instantaneous torque required to achieve the target rotation, making compass turn control more precise and timely, and avoiding vehicle rotation instability caused by improper acceleration.

[0055] The parameters of tire-ground friction coefficient, tire vertical load, and tire effective rolling radius together constitute the mechanical model of the vehicle's interaction with the ground while driving. The "tire-ground friction coefficient" quantifies the friction characteristics of the tire-ground contact surface; the "tire vertical load" reflects the weight borne by the wheel; and the "tire effective rolling radius" is the effective size of the tire during the actual rotation process. By combining these parameters, the embodiment of the present application can more accurately evaluate the friction resistance torque of the vehicle during a compass turn, providing important information for formulating a reasonable torque distribution strategy, ensuring that the vehicle's compass turn under different road conditions is both safe and efficient.

[0056] Based on the analysis of the aforementioned vehicle parameters, the "determine total torque requirement" step includes a comprehensive consideration of the moment of inertia, angular acceleration, tire-ground friction coefficient, tire vertical load, and tire effective rolling radius, with the goal of determining the minimum torque required to achieve the target rotation angle. For example, the specific calculation formula is as follows:

[0057] M 总 =J·α+∑ 4 i＝1 μ·F z，i ·R 轮

[0058] J=m·R 旋转

[0059] Where J is the moment of inertia of the vehicle around the fulcrum; m is the mass of the vehicle; R 旋转 : distance from the vehicle's center of mass to the fulcrum; α: vehicle angular acceleration; μ: friction coefficient between tire and ground; F z，i : Vertical load of each tire; R 轮 : Tire effective rolling radius.

[0060] The embodiments of the present application achieve refined management of the torque of all wheels during a compass turn by calculating and determining the total torque required by the vehicle around its center of rotation. This strategy, based on the vehicle's mechanical characteristics and current state, ensures that the non-rotating wheels can generate appropriate rotational torque while the rotating center wheel can remain stable and motionless, greatly optimizing the functional implementation of the compass turn. Not only can the vehicle efficiently perform steering actions with a minimum turning radius, but the power distribution throughout the process is more reasonable, avoiding the risk of excessive wheel slip or vehicle instability.

[0061] Optionally, determining the driving torque of the driving wheel according to the total torque demand comprises: obtaining the wheelbase of the vehicle, the track of the vehicle and the rear wheel steering angle of the vehicle; determining a driving torque constraint condition according to the total torque demand, the wheelbase of the vehicle, the track of the vehicle and the rear wheel steering angle of the vehicle; and determining the driving torque according to the driving torque constraint condition and a preset vehicle body stability condition.

[0062] The wheelbase of the vehicle refers to the horizontal distance between the center lines of the front and rear axles of the vehicle, which directly affects the turning radius and stability of the vehicle. In the method of the embodiments of the present application, the wheelbase of the vehicle is a key parameter for determining the driving wheel torque distribution, which can help the system to understand the size characteristics of the vehicle, so as to achieve more accurate and personalized torque calculation when performing the compass turning action on vehicles of different models and wheelbases, and ensure the balance of the vehicle during the execution of the compass turning.

[0063] The track of the vehicle refers to the horizontal distance between the center lines of the two wheels on the same axle of the vehicle. The size of the track affects the handling and stability of the vehicle, especially when performing the compass turning action with high precision. By considering the track of the vehicle, the embodiments of the present application can more accurately evaluate the moment gain effect of the "outside eight" layout of the rear wheels when calculating the driving wheel torque, thereby optimizing the torque distribution and ensuring efficient rotation and stable control of the vehicle during the compass turning process.

[0064] The rear wheel steering angle of the vehicle refers to the deflection angle of the rear wheels of the vehicle relative to the driving direction of the vehicle, which plays a crucial role in the compass turning control. By setting the rear wheel steering angle of the vehicle to the maximum "outside eight" state, the embodiments of the present application can significantly improve the moment contribution of the driving wheel to the rotation center and increase the steering efficiency of the vehicle. At the same time, accurate control of the rear wheel steering angle can also avoid excessive sliding of the wheels under high torque and maintain the stability of the vehicle body during the compass turning process.

[0065] The "driving torque constraint condition" is calculated based on the total torque demand, the wheelbase of the vehicle, the track of the vehicle and the rear wheel steering angle of the vehicle, which defines the physically feasible range of driving wheel torque distribution. By considering these parameters, the embodiments of the present application can ensure that the torque of the driving wheel not only meets the moment demand of the compass turning action, but also does not exceed the differential ability limit of the motor, thereby avoiding the vehicle instability phenomenon caused by the large torque difference between the driving wheels when performing the compass turning.

[0066] [Toutback(cosθ·B+sinθ·L)+Tinback·sinθ·L+Toutfront·B] / Rwheel=Mtotal

[0067] |Toutback-Tinback|≤ΔTmax(motor differential ability)

[0068] θ≤ θmax (rear wheel steering angle limit)

[0069] Wherein, Touter rear, Tin rear, Touter front are the wheel end driving torques of the outer rear wheel, inner rear wheel and outer front wheel respectively when the vehicle is performing the compass turn; L is the wheelbase of the vehicle, B is the wheel track of the vehicle; θ is the rear wheel steering angle of the vehicle.

[0070] While ensuring that the driving torque meets the constraint condition, the embodiments of the present application also consider the preset vehicle body stability condition, such as avoiding wheel slip and controlling the vehicle yaw rate. Through this comprehensive evaluation process, the system can dynamically adjust the torque distribution of the driving wheels according to the real-time monitored vehicle state, ensure that the vehicle can smoothly and safely complete the compass turn action even in complex road conditions, avoid the risk of vehicle loss of control caused by improper torque distribution, and enhance the practicality and safety of the compass turn function.

[0071] The embodiments of the present application realize fine management and optimized distribution of the driving wheel torque by introducing the wheelbase, wheel track, rear wheel steering angle and driving torque constraint condition. Not only does it ensure efficient use of driving wheel torque, overcoming the inertia and friction obstacles that may be encountered during the compass turn action, but also effectively controls the vehicle's yaw rate and wheel slip during the compass turn, maintains the balance of the vehicle body, and avoids vehicle instability.

[0072] Optionally, before controlling the rotation center wheel according to the target rotation angle and the braking torque, and controlling the driving wheel according to the target rotation angle and the driving torque, the method further comprises: in response to the compass turn instruction, determining the rotation direction according to the rotation center wheel; and controlling the steering angle of the driving wheel to a preset target angle according to the rotation direction.

[0073] When the user issues a compass turn instruction through the multimedia screen or the vehicle control system, the response mechanism is started to prepare to perform the compass turn action. This instruction contains the user-selected rotation center wheel (left front wheel or right front wheel) and the target rotation angle, which is the starting point for the subsequent control steps.

[0074] After receiving the compass turn instruction, the vehicle controller determines the rotation direction of the vehicle, i.e. clockwise or counterclockwise, according to the position of the rotation center wheel. Based on the dynamic response and physical characteristics of the vehicle, the steering angle of the rear wheel and the torque direction of the driving wheel are intelligently adjusted to ensure that the vehicle can complete the compass turn action with the smallest turning radius and the most efficient way, while avoiding unnecessary wheel slip, optimizing power distribution, and improving the maneuverability and stability of the vehicle.

[0075] The drive wheels, i.e., the three wheels of the vehicle's four wheels other than the central rotating wheel, play a crucial role in driving and steering during a compass turn. Based on the determined direction of rotation, embodiments of the present application control the steering angle of the drive wheels to a preset target angle, typically the maximum steering angle that causes the vehicle's two rear wheels to turn "outwards" (toe). By precisely controlling the steering angle, the system can maximize the torque contribution of the drive wheels to the center of rotation, while reducing the vehicle's turning radius and improving the efficiency and control accuracy of the compass turn.

[0076] For example, in an application scenario, when the user sets the left front wheel as the center wheel and specifies counterclockwise rotation, the embodiment of the present application will control the left rear wheel to steer to the maximum left angle and the right rear wheel to steer to the maximum right angle. At the same time, the driving torque of the front and rear wheels is adjusted according to the rotation direction to ensure that the vehicle can rotate counterclockwise around the left front wheel to the specified angle. The steering angle control and torque distribution in this process are based on the current vehicle state and user instructions, and are the key technical actions to achieve the compass U-turn.

[0077] By responding to a compass turn command and determining the direction of rotation based on the rotating center wheel, and then controlling the steering angle of the drive wheels to a preset target angle, the embodiment of the present application can ensure that the steering and drive torque distribution of each wheel meets the vehicle's kinematic and dynamic requirements when the vehicle performs a compass turn. This strategy significantly improves the accuracy of compass turn control and the immediacy of vehicle response, avoiding the risk of excessive wheel slip or vehicle loss of control due to improper steering angles, ensuring efficient execution of compass turns and stable vehicle rotation, thereby independently improving the vehicle's flexibility and driving safety in confined spaces, and providing users with a more intelligent and reliable compass turn experience.

[0078] Optionally, in response to a compass turn command, determining the braking torque of the rotating center wheel includes: in response to the compass turn command, obtaining the vehicle's U-turn function status; in response to the vehicle's U-turn function status being a U-turn function standby state, determining the braking torque of the rotating center wheel, wherein the U-turn function standby state is used to characterize that the vehicle door is in a closed state, the seat belt is in a fastened state, and the vehicle is in the parking position.

[0079] The vehicle U-turn function status is an important concept in the U-turn control process of this application, which is used to describe whether the vehicle is ready or performing a compass U-turn. This status is divided into three types: off (OFF), standby (Standby) and active (Active). Among them, the "U-turn function standby state" (Standby) specifically refers to the combination of conditions where the door is closed, the occupants have fastened their seat belts and the vehicle gear is in the parking gear (P gear), indicating that the vehicle has made preliminary preparations for the compass U-turn and can safely perform the next control operation.

[0080] When the vehicle is in the "U-turn function standby state", the embodiment of the present application will calculate the braking torque required to fix the wheel based on the rotating center wheel (left front wheel or right front wheel) selected by the user. The originality of this process is that it uses vehicle status confirmation (such as door closed, seat belt fastened, gear correct) as a prerequisite for torque calculation, ensuring that only when the vehicle is fully ready and the environment is safe can sufficient braking torque be accurately calculated and applied to firmly fix the rotating center wheel to support the subsequent compass U-turn action. The addition of this feature not only improves the safety of the compass U-turn function, but also optimizes the user experience and ensures the stability of the vehicle when performing a compass U-turn.

[0081] For example, in an application scenario, for example, when the user selects the left front wheel as the rotating center wheel for a compass turn on the multimedia screen, the embodiment of the present application first confirms whether the vehicle is in a standby state, that is, checks whether the doors are fully closed, whether all occupants are fastened with seat belts, and whether the vehicle is currently in the parking gear. Once it is confirmed that the vehicle is in the correct standby state, the system will calculate and determine the braking torque required for the left front wheel based on parameters such as the static friction coefficient between the left front wheel and the ground, the vertical load on the wheel, and the effective rolling radius of the tire. This process ensures that the vehicle can fix the rotating center wheel in the safest and most efficient manner when it is fully prepared, laying a solid foundation for executing the compass turn.

[0082] By obtaining and confirming that the vehicle is in a U-turn standby state after responding to a compass turn command, the present embodiment ensures that the vehicle has completed necessary safety checks and status adjustments before executing the compass turn. This technical effect independently improves the initial safety and preparation efficiency of the compass turn control process, ensuring that the rotating center wheel can be accurately and promptly fixed according to user instructions and the current state of the vehicle, reducing the potential execution risks of the compass turn function and providing safe and stable starting conditions for subsequent compass turn actions.

[0083] For example, refer to Figure 3 In the embodiment of the present invention, the vehicle U-turn function status is divided into three types: off (OFF), standby (Standby) and active (Active).

[0084] The jump control logic of the three functional states is as follows:

[0085] OFF → Standby:

[0086] Preconditions (all satisfied simultaneously): 1. Vehicle is in Ready state; 2. Function state = OFF; 3. User requests to enable the function.

[0087] Trigger conditions (satisfied simultaneously): 1. All doors are closed; 2. Passengers have fastened their seat belts; 3. The vehicle is on a flat road; 4. The vehicle is in P gear.

[0088] Standby → OFF:

[0089] One of the following conditions is met: 1. The user requests to turn off the function; 2. The vehicle is not in Ready state; 3. A door is not closed; 4. The passenger's seat belt is unfastened; 5. The vehicle gear is in R / N gear; 6. The vehicle speed is greater than a certain value; 7. There is a fault in the power system; 8. There is a fault in the braking system; 9. The motor temperature is too high; 10. The vehicle is not on a flat road; 11. The intelligent driving control function is turned on.

[0090] Standby→Active:

[0091] Preconditions (all met simultaneously): 1. The vehicle is in Ready state; 2. Functional state = Standby; 3. The steering wheel angle is less than a certain value; 4. The vehicle gear is in D gear; 5. The brake pedal is pressed; 6. The distance between the vehicle and the obstacle is greater than a certain value.

[0092] Trigger conditions: 1. Release the brake pedal.

[0093] Active→OFF: 1. The user requests to turn off the function; 2. The vehicle is not in the Ready state; 3. A door is not closed; 4. The passenger's seat belt is unfastened; 5. The vehicle is in a gear other than D; 6. The vehicle speed is greater than a certain value; 7. There is a fault in the power system; 8. There is a fault in the braking system; 9. The motor temperature is too high; 10. The vehicle is not on a flat road; 11. The intelligent driving control function is turned on; 12. The function has been in the Active state for too long; 13. The vehicle electronic stability system has not been successfully disabled; 14. The compass turn angle has reached the user-specified angle; 15. The distance from the vehicle to the obstacle is less than a certain value.

[0094] Optionally, the vehicle control method also includes: obtaining camera data and radar data while controlling the rotating center wheel according to the target rotation angle and braking torque, and controlling the driving wheel according to the target rotation angle and driving torque; determining the distance between the vehicle and the obstacle based on the camera data and radar data; and controlling the vehicle to stop in response to the distance being less than a preset distance.

[0095] Camera data refers to image information captured by a vehicle's Advanced Driver Assistance System (ADAS) camera. This information covers the vehicle's surroundings, including but not limited to obstacle recognition, road sign interpretation, and detection of pedestrians and other vehicles. In the embodiments of this application, camera data is collected and transmitted in real time to the vehicle controller for visual monitoring of the vehicle's surroundings.

[0096] Radar data is sourced from radar sensors equipped on the vehicle, which can emit electromagnetic waves and receive the reflected signals to determine the distance and relative speed between the vehicle and surrounding obstacles. Radar data provides another way of perceiving the vehicle's surroundings, especially in low light or obstructed view conditions, to complement the camera data and ensure comprehensive obstacle monitoring.

[0097] Based on camera data and radar data, the intelligent driving system in the embodiments of the present application can calculate the actual distance between the vehicle and surrounding obstacles in real time, providing more accurate and comprehensive obstacle monitoring capability during the roundabout turning process. By continuously updating the distance information between the vehicle and obstacles, the system can timely detect potential collision risks and take measures in advance to avoid collisions with obstacles when performing roundabout turning in a small space.

[0098] When the system detects that the distance between the vehicle and the obstacle is less than the pre-set safety threshold, it will immediately issue a stop command to interrupt the roundabout turning action of the vehicle controller and reduce the speed of the vehicle until it completely stops. It closely integrates the vehicle roundabout turning function with real-time obstacle detection, can quickly respond in emergency situations, avoid vehicle collisions, and significantly improve the safety performance of the roundabout turning function.

[0099] For example, in application scenarios, for example, when the vehicle is performing a roundabout turning action with the left front wheel as the rotation center wheel and the two rear wheels rotating in different directions and speeds, the intelligent driving system in the embodiments of the present application will continuously receive data from the camera and radar to continuously monitor the distance between the vehicle and surrounding obstacles. Once the distance is found to decrease to a pre-set dangerous level, the system will immediately intervene to stop the vehicle from rotating to prevent possible collision accidents. This series of technical actions ensures the safety of roundabout turning operation in various complex environments.

[0100] By obtaining camera data and radar data in real time, the embodiments of the present application can continuously monitor the distance between the vehicle and obstacles, and once the distance decreases below the pre-set safety limit, the system can timely interrupt the roundabout turning action and force the vehicle to slow down or even stop. This optional step independently enhances the safety of roundabout turning control, avoids collisions between the vehicle and surrounding obstacles due to blind rotation, and provides additional safety assurance for the vehicle to perform roundabout turning in complex environments. Whether it is a narrow road, a crowded parking lot or an obstacle-dense area, this mechanism can effectively avoid risks, ensure the smooth completion of roundabout turning action, and protect the vehicle from damage, significantly improving the user's trust and satisfaction with the intelligent control of the vehicle.

[0101] Reference Figure 4The present invention provides a vehicle control system, which consists of various sensors, a vehicle controller, a brake controller and a brake system, and various drive motors.

[0102] Functions of various sensors: Responsible for collecting various signals required for the compass to turn around, and sending the collected signals to the controller.

[0103] The function of the vehicle controller is to receive the compass turn-related signals collected by the sensor and various information input by the user, including the road adhesion coefficient, the target rotation angle, the actual vehicle angle, the compass turn target angular velocity, and the rotating center wheel (fixed wheel). It processes these signals and forms a drive torque control algorithm, and outputs the control results to each drive motor; it controls the state jump of the compass turn function; and when the compass turn is activated, it requests the brake controller to brake the fixed wheel.

[0104] Front and rear motors: Execute the controller's torque request, drive the vehicle to make a compass turn, and feed back the actual torque to the controller.

[0105] Brake controller and brake system: When the compass turn is activated, it responds to the vehicle controller's braking request for the fixed wheel, locks the fixed wheel through the brake caliper, and feeds back the braking execution result to the controller.

[0106] Steering controller and rear wheel steering motor: When the compass U-turn is activated, it responds to the vehicle controller's request for rear wheel steering and controls the rear wheel steering motor to make the two rear wheels present the maximum outward-toed steering angle.

[0107] The present application also provides a vehicle control device 50, please refer to Figure 5 , including: an acquisition module 501, used to obtain a compass turn instruction and vehicle parameters, wherein the compass turn instruction includes a rotating center wheel and a target rotation angle; a first determination module 502, used to determine the braking torque of the rotating center wheel in response to the compass turn instruction; a second determination module 503, used to determine the total torque requirement of the vehicle according to the vehicle parameters; a third determination module 504, used to determine the driving torque of the driving wheel according to the total torque requirement, wherein the driving wheel is the wheel other than the rotating center wheel among the four wheels of the vehicle; a control module 505, used to control the rotating center wheel according to the target rotation angle and the braking torque, and at the same time control the driving wheel according to the target rotation angle and the driving torque.

[0108] The present application also provides an electronic device 60, please refer to Figure 6 , including a processor 610 and a memory 620, wherein the memory 610 is used to store computer programs; the processor 620 is used to execute the programs stored in the memory 610 to implement the vehicle control method introduced in any embodiment of the present application.

[0109] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the vehicle control method introduced in any embodiment of the present application.

[0110] An embodiment of the present application also provides a vehicle, including a memory and a processor, wherein an executable program is stored in the memory, and the processor is configured to run the executable program to execute the vehicle control method introduced in any embodiment of the present application.

[0111] In this application, a plurality refers to two or more.

[0112] In this application, unless otherwise expressly defined, the terms "mounted," "connected," and "connected" should be interpreted broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. A person of ordinary skill in the art will understand the specific meanings of these terms in this application.

[0113] The terms "first," "second," "third," "fourth," etc. (if any) in this application are used to distinguish similar objects and are not necessarily used to describe a particular sequential order.

[0114] The term "and / or" in this application simply describes an association between related objects, indicating that three possible relationships exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this application generally indicates that the related objects are in an "or" relationship.

[0115] Unless otherwise specified, all steps of the present application may be performed sequentially or randomly. For example, a statement that the method includes steps A and B indicates that the method may include steps A and B performed sequentially, or steps B and A performed sequentially. For example, a statement that the method may also include step C indicates that step C may be added to the method in any order, for example, the method may include steps A, B, and C, or steps A, C, and B, or steps C, A, and B, etc.

[0116] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A vehicle control method, characterized in that: include: Obtaining a compass turn instruction and vehicle parameters, wherein the compass turn instruction includes rotating a central wheel and a target rotation angle; determining a braking torque of the rotating center wheel in response to the compass turn instruction; determining a total torque demand of the vehicle based on the vehicle parameters; determining a driving torque of a driving wheel according to the total torque demand, wherein the driving wheel is a wheel other than the rotating center wheel among the four wheels of the vehicle; The rotation center wheel is controlled according to the target rotation angle and the braking torque, while the driving wheels are controlled according to the target rotation angle and the driving torque.

2. The vehicle control method according to claim 1, characterized in that: Determining the braking torque of the rotating central wheel in response to the compass turn instruction includes: Obtaining the static friction coefficient between the rotating center wheel and the ground, the vertical load of the rotating center wheel, and the effective rolling radius of the tire; The braking torque is determined according to the static friction coefficient, the vertical load of the rotating central wheel, and the effective rolling radius of the tire.

3. The vehicle control method according to claim 1, characterized in that: Determining the total torque requirement of the vehicle according to the vehicle parameters includes: Determine the moment of inertia of the vehicle around the fulcrum based on the vehicle mass and the distance from the vehicle's center of mass to the fulcrum; determining the total torque requirement based on the moment of inertia of the vehicle about the fulcrum, the angular acceleration of the vehicle, the friction coefficient between the tire and the ground, the vertical load of the tire, and the effective rolling radius of the tire; Among them, the vehicle mass, the distance from the vehicle center of mass to the fulcrum, the vehicle angular acceleration, the tire-ground friction coefficient, the tire vertical load and the tire effective rolling radius are included in the vehicle parameters.

4. The vehicle control method according to claim 1, wherein: Determining the driving torque of the driving wheels according to the total torque demand includes: Obtain vehicle wheelbase, vehicle track and vehicle rear wheel steering angle; determining a driving torque constraint condition according to the total torque demand, the vehicle wheelbase, the vehicle track width, and the vehicle rear wheel steering angle; The driving torque is determined according to the driving torque constraint condition and a preset vehicle body stability condition.

5. The vehicle control method according to claim 1, characterized in that: Before controlling the rotating central wheel according to the target rotation angle and the braking torque and simultaneously controlling the driving wheels according to the target rotation angle and the driving torque, the method further includes: In response to the compass turn instruction, determining a rotation direction according to the rotating center wheel; According to the rotation direction, the steering angle of the driving wheel is controlled to a preset target angle.

6. The vehicle control method according to claim 1, characterized in that: In response to the compass turn instruction, determining the braking torque of the rotating central wheel includes: In response to the compass turn instruction, obtaining a vehicle turn function state; In response to the vehicle U-turn function state being a U-turn function standby state, a braking torque of the rotating central wheel is determined, wherein the U-turn function standby state is used to indicate that the vehicle doors are closed, the seat belts are fastened, and the vehicle is in a parking gear position.

7. The vehicle control method according to claim 1, characterized in that: Also includes: acquiring camera data and radar data while controlling the rotating center wheel according to the target rotation angle and the braking torque and simultaneously controlling the driving wheels according to the target rotation angle and the driving torque; determining a distance between the vehicle and an obstacle based on the camera data and the radar data; In response to the distance being smaller than a preset distance, the vehicle is controlled to stop.

8. A vehicle control device, characterized in that: include: an acquisition module, configured to acquire a compass turn instruction and vehicle parameters, wherein the compass turn instruction includes a rotation center wheel and a target rotation angle; a first determining module, configured to determine a braking torque of the rotating central wheel in response to the compass turn instruction; a second determining module, configured to determine a total torque requirement of the vehicle based on the vehicle parameters; a third determining module, configured to determine a driving torque of a driving wheel according to the total torque demand, wherein the driving wheel is a wheel other than the rotating center wheel among the four wheels of the vehicle; A control module is configured to control the rotating central wheel according to the target rotation angle and the braking torque, and simultaneously control the driving wheel according to the target rotation angle and the driving torque.

9. An electronic device, characterized in that: comprising a processor and a memory, wherein Memory for storing computer programs; A processor, configured to execute a program stored in a memory to implement the method described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

11. A vehicle, characterized in that: include: a memory storing an executable program; A processor, configured to run the program, wherein the program executes the method according to any one of claims 1 to 7 when running.

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