Vehicle control method, vehicle and computer readable storage medium

Abstract

The invention provides a vehicle control method, a vehicle and a computer readable storage medium, and relates to the technical field of steering control, the method comprises the following steps: under the condition of triggering an execution instruction of target steering operation, controlling a front wheel and a rear wheel to steer according to a steering wheel angle, and according to the actual vehicle speed, the braking force applied by the braking system to rear wheels on the inner steering side of the vehicle is increased, and the driving force applied by the power system to front wheels is increased until the vehicle executes the target steering operation. According to the method, the turning radius of the vehicle during the target steering operation can be reduced, so that the frequency of frequently adjusting the posture of the vehicle by a user during the target steering operation of the vehicle is reduced, and the trafficability and the passing efficiency of the vehicle are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of steering control, and more particularly, to a vehicle control method, a vehicle and a computer readable storage medium in the technical field of steering control. BACKGROUND

[0002] With the continuous development of automobile products towards large-scale and high-end, more and more passenger cars, commercial vehicles and the like adopt long wheelbase design to improve the ride comfort, space utilization and driving stability. However, the long wheelbase vehicle also faces obvious operation limitations in actual use, especially in scenes such as narrow roads, parking lots, hutongs or road junctions with small turning radius, and the like. The long wheelbase vehicle has a large turning radius, resulting in insufficient steering flexibility.

[0003] In the low-speed turning or steering operation of the long wheelbase vehicle, the vehicle often cannot complete the turning or steering at one time, but needs the user to repeatedly perform the multi-adjustment of "forward, steering, reversing, and steering again", so as to realize the direction conversion of the vehicle. This process not only increases the operation burden of the user, but also prolongs the vehicle passing time and reduces the passing efficiency. SUMMARY

[0004] The vehicle control method, the vehicle and the computer readable storage medium provided in the embodiments of the present application can reduce the turning radius of the vehicle during the target steering operation, thereby reducing the number of times that the user frequently adjusts the vehicle posture during the execution of the target steering operation by the vehicle, and are beneficial to improve the passability and passing efficiency of the vehicle.

[0005] In a first aspect, a vehicle control method is provided, which includes: in the case that an execution instruction of a target steering operation is triggered, acquiring a steering wheel turning angle; controlling the front wheels and the rear wheels to steer according to the steering wheel turning angle, the steering direction of the rear wheels being the opposite direction of the steering direction of the front wheels; acquiring an actual vehicle speed of the vehicle; increasing the braking force applied by a braking system to a target wheel and the driving force applied by a power system to the front wheels according to the actual vehicle speed, until the vehicle completes the execution of the target steering operation, the target wheel being the rear wheel on the inside of the vehicle steering.

[0006] If the execution instruction of the target steering operation is detected during the vehicle driving, the steering control is first performed on the front wheels and the rear wheels according to the steering wheel angle, then the additional brake control is performed on the rear wheels on the inside of the vehicle turning based on the vehicle speed, and the driving force of the front wheels is increased, so that the turning radius of the vehicle is reduced by controlling the front wheels and the rear wheels to turn at the same time, and the turning radius of the vehicle is further reduced by performing the additional brake control on the rear wheels on the inside of the vehicle turning, so that the passability and traffic efficiency of the vehicle can be improved. For a long-wheelbase vehicle, the one-time pass rate of the vehicle in performing the turning or U-turn operation in a scene such as a sharp turning road or a narrow road can be improved, and for a road scene that cannot be passed at one time, the number of times of adjusting the vehicle posture of the user during the execution of the target steering operation of the vehicle can be reduced, which is beneficial to reducing the operation burden of the user. When the brake control is performed on the rear wheels on the inside of the vehicle turning, the driving force of the front wheels is increased, so that the deceleration caused by the brake can be offset, the vehicle speed is stabilized, the vehicle speed caused by the brake is avoided, and the continuity of the vehicle driving is ensured, so that the convenience and traffic efficiency of the vehicle are further improved.

[0007] In a possible implementation, the rear wheel steering according to the steering wheel angle comprises: determining a target rear wheel steering angle of the rear wheel according to the steering wheel angle; and adjusting the steering angle of the rear wheel to the target rear wheel steering angle based on a rear wheel steering angle increment.

[0008] In a possible implementation, the increasing the brake force applied by the brake system to the target wheel and the increasing the driving force applied by the power system to the front wheel according to the actual vehicle speed comprises: in a case where the actual vehicle speed is less than or equal to a first vehicle speed threshold, increasing the brake force applied by the brake system to the target wheel based on a first brake force increment, and increasing the driving force applied by the power system to the front wheel based on a first driving force increment, the absolute value of the first brake force increment being the same as the absolute value of the first driving force increment.

[0009] In a case where the actual vehicle speed is less than or equal to a first vehicle speed threshold, the brake force applied by the brake system to the target wheel is increased based on a first brake force increment, and the driving force applied by the power system to the front wheel is increased based on a first driving force increment, so that the rear wheel on the inside of the vehicle turning is braked to further reduce the turning radius of the vehicle. Moreover, during the increasing of the brake force applied to the target wheel and the increasing of the driving force applied to the front wheel, the increments of the brake force and the driving force are the same in size, so that the deceleration of the vehicle caused by the brake of the rear wheel on the inside of the vehicle turning can be accurately offset, thereby ensuring the continuity of the vehicle driving, and further improving the convenience and traffic efficiency of the vehicle.

[0010] In a possible implementation, after the brake force applied by the brake system to the target wheel and the drive force applied by the power system to the front wheel are increased according to the actual vehicle speed, the vehicle control method further includes: if the actual vehicle speed at the current time is inconsistent with the historical vehicle speed at the historical time, adjusting the brake force applied by the brake system to the target wheel and the drive force applied by the power system to the front wheel according to the size relationship between the actual vehicle speed at the current time and the historical vehicle speed, so that the actual vehicle speed of the vehicle during the target steering operation is maintained stable, thereby ensuring that the vehicle can successfully complete the target steering operation.

[0011] In a possible implementation, the adjusting the brake force applied by the brake system to the target wheel and the drive force applied by the power system to the front wheel according to the size relationship between the actual vehicle speed at the current time and the historical vehicle speed includes: in the case where the actual vehicle speed at the current time is greater than the historical vehicle speed, if the accelerator pedal opening degree is increased, the actual vehicle speed at the current time is greater than the first vehicle speed threshold and less than or equal to the second vehicle speed threshold, the additional brake force applied by the brake system to the target wheel is cancelled, and the additional drive force applied by the power system to the front wheel is cancelled.

[0012] In a possible implementation, the adjusting the brake force applied by the brake system to the target wheel and the drive force applied by the power system to the front wheel according to the size relationship between the actual vehicle speed at the current time and the historical vehicle speed includes: if the actual vehicle speed at the current time is greater than the historical vehicle speed and the accelerator pedal opening degree is not increased, or, the first brake force increment and the first drive force increment are reduced to obtain a second brake force increment and a second drive force increment; the brake force applied by the brake system to the target wheel is increased based on the second brake force increment, and the drive force applied by the power system to the front wheel is increased based on the second drive force increment, until the acceleration of the vehicle is zero; in the case where the acceleration is zero, the step of increasing the brake force applied by the brake system to the target wheel based on the first brake force increment and increasing the drive force applied by the power system to the front wheel based on the first drive force increment is performed.

[0013] In a possible implementation, the vehicle control method further includes: during execution of the target steering operation by the vehicle, acquiring a distance between the vehicle and the obstacle; if the distance is less than a first distance threshold and an actual vehicle speed at a current time is greater than a third speed threshold, outputting first prompt information to prompt the user to reduce the actual vehicle speed to below the third speed threshold, the third speed threshold being less than the first speed threshold; if the distance is greater than a second distance threshold and the actual vehicle speed at the current time is less than or equal to the third speed threshold, controlling the front wheels and the rear wheels to steer, controlling the brake system to apply the braking force to the target wheels, and controlling the power system to apply the driving force to the front wheels, until the front wheels steer; and if the distance is less than a third distance threshold and the actual vehicle speed at the current time is less than or equal to the third speed threshold, controlling the vehicle to stop, the second distance threshold being greater than the third distance threshold and less than the first distance threshold.

[0014] In a possible implementation, the vehicle control method further includes: in a case where the vehicle is powered on, if an opening instruction of the steering assistance function is detected, determining whether the execution instruction of the target steering operation is triggered; or in a case where the vehicle is powered on, detecting an opening state of the steering assistance function; and if the opening state is opened, determining whether the execution instruction of the target steering operation is triggered.

[0015] In a possible implementation, the vehicle control method further includes: in a case where the opening instruction is detected or the opening state is opened, if working states of the brake system, the power system, and the vehicle state monitoring system are normal states and a working state of a target module is an abnormal state, outputting second prompt information to prompt the user whether to continue to open the steering assistance function, the target module including a module in the vehicle that does not participate in vehicle steering control; and in response to the user selecting to continue to open the steering assistance function, performing the step of determining whether the execution instruction of the target steering operation is triggered.

[0016] In a second aspect, a vehicle control apparatus is provided, and the vehicle control apparatus includes: a steering angle acquisition module configured to acquire a steering wheel steering angle in a case where an execution instruction of a target steering operation is triggered; a steering control module configured to control the front wheels and the rear wheels to steer according to the steering wheel steering angle, a steering direction of the rear wheels being opposite to a steering direction of the front wheels; a vehicle speed acquisition module configured to acquire an actual vehicle speed of the vehicle; a driving control module configured to increase a braking force applied by the brake system to target wheels and increase a driving force applied by the power system to the front wheels according to the actual vehicle speed, until the vehicle completes execution of the target steering operation, the target wheels being the rear wheels on an inside of vehicle steering.

[0017] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is configured to store executable program code, and the processor is configured to invoke and run the executable program code from the memory, so that the vehicle performs the vehicle control method in the first aspect or any possible implementation manner of the first aspect.

[0018] In a fourth aspect, a computer program product is provided, which comprises computer program code, which, when run on a computer, causes the computer to perform the vehicle control method in the first aspect or any possible implementation manner of the first aspect.

[0019] In a fifth aspect, a computer-readable storage medium is provided, which stores computer program code, which, when run on a computer, causes the computer to perform the vehicle control method in the first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 A schematic flowchart of a vehicle control method provided by an embodiment of the present application is shown; Figure 2 A functional architecture diagram of a vehicle provided by an embodiment of the present application is shown; Figure 3 A scene schematic diagram of a vehicle turning provided by an embodiment of the present application is shown; Figure 4 A structural schematic diagram of a vehicle control device provided by an embodiment of the present application is shown; Figure 5 A structural schematic diagram of a vehicle provided by an embodiment of the present application is shown. DETAILED DESCRIPTION

[0021] The technical solutions in the present application will be described in detail below with reference to the drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B: "and / or" in the text only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0022] Hereinafter, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more features.

[0023] With the continuous development of automobile products towards large-scale and high-end, more and more passenger cars, commercial vehicles and the like adopt long wheelbase design to improve the ride comfort, space utilization and driving stability. However, long wheelbase vehicles also face obvious steering limitations in actual use, especially in narrow roads, parking lots, alleys or road intersections with small turning radius, etc. The large turning radius of the long wheelbase vehicle leads to insufficient steering flexibility.

[0024] In the low-speed turning or steering operation of the long wheelbase vehicle, the vehicle often cannot complete the turning or steering at one time, but needs the user to repeatedly perform "forward, steering, reversing, and steering again" multiple adjustments to realize the direction conversion of the vehicle. This process not only increases the operation burden of the user, but also prolongs the vehicle passing time and reduces the passing efficiency.

[0025] In the existing related technology, various schemes for reducing the turning radius of the vehicle have been proposed, but there are still certain limitations. For example, one scheme is to reduce the turning radius based on a parking system. Specifically, the parking system is used to apply a parking brake force to the inner side wheels of the steering to make the inner side wheels of the rear axle approach a locked state. Such control can make the vehicle perform steering with the locked wheels as the origin, which can greatly shorten the turning radius of the vehicle. However, this control method uses the parking system to achieve, and since the clamping force of the parking system caliper cannot be closed-loop controlled, only a constant clamping force can be output by the caliper, resulting in unadjustable brake force, which in turn causes the turning radius of the vehicle to be unable to be flexibly adjusted. For another example, another scheme is to reduce the turning radius through a multi-motor power architecture. Specifically, the vehicle with the multi-motor power architecture can make the wheels on both sides reverse to achieve the in-place steering motion of the vehicle around itself. This control method can also greatly reduce the turning radius. However, this control method relies on the multi-motor architecture and has specific requirements for the vehicle power system structure, so the application scope is relatively limited.

[0026] Based on the problems in the above related technologies, the vehicle control method, the vehicle and the computer readable storage medium provided in the embodiments of the present application, the vehicle control method provided in the present application is applied to a vehicle with rear wheel steering function. If the execution instruction of the target steering operation (specifically, the service brake system) is detected during the driving of the vehicle, the front wheels and the rear wheels are controlled to steer according to the steering wheel angle, then the rear wheels on the inside of the vehicle steering are additionally controlled by the brake system based on the vehicle speed, and the driving force of the front wheels is increased, until the vehicle completes the target steering operation. During the execution of the target steering operation of the vehicle, by controlling the front wheels and the rear wheels to steer at the same time, the turning radius of the vehicle can be reduced, and then the rear wheels on the inside of the vehicle steering are additionally braked by the brake system, which can further reduce the turning radius of the vehicle. In this way, the passability and traffic efficiency of the vehicle in the scene such as U-turn and narrow road can be improved. For a long wheelbase vehicle, the number of times of frequently adjusting the vehicle attitude during the execution of the target steering operation of the vehicle by the user can be reduced, which is beneficial to reduce the operation burden of the user. In addition, when the rear wheels on the inside of the vehicle steering are additionally braked, the driving force of the front wheels is increased, which can offset the deceleration caused by braking, maintain the stability of the vehicle speed, avoid the decrease of the vehicle speed caused by braking, and thus ensure the continuity of the vehicle driving, and further improve the convenience and traffic efficiency.

[0027] The implementation of the vehicle control method provided in the present application does not need to rely on the multi-motor power architecture, and can be applied to traditional fuel vehicles, single-motor electric vehicles and single-motor hybrid vehicles with rear wheel steering systems. Compared with the scheme of realizing small-radius steering by relying on the multi-motor architecture, the present application has a wider range of application. In addition, the present application uses the service brake system to apply an adjustable braking force to the rear wheels on the inside of the vehicle steering. Since the service brake system has closed-loop control capability, the braking force can be continuously and accurately adjusted according to the actual steering demand, so as to realize flexible control of the turning radius. Compared with the scheme of outputting a constant braking force based on the parking system, the adaptability and refinement of the present application are significantly improved, and flexible adjustment of the size of the turning radius can be realized.

[0028] The following is an embodiment of a vehicle control method provided in the present application.

[0029] Figure 1 A schematic flowchart of a vehicle control method provided in the embodiments of the present application is shown as shown in Figure 1 The vehicle control method provided in the embodiments of the present application is applied to the vehicle controller of the vehicle. Figure 2 A functional architecture diagram of a vehicle provided in the embodiments of the present application is shown as shown in Figure 2As shown, the vehicle includes a vehicle controller, a front axle steering control system, a rear axle steering control system, a brake system, a power system, a human-computer interaction system, a user input system, a vehicle state monitoring system, etc. The front axle steering control system, the rear axle steering control system, the brake system, the power system, the human-computer interaction system, the user input system, and the vehicle state monitoring system are all in communication connection with the vehicle controller. The front axle steering control system and the rear axle steering control system are used to assist the steering of the vehicle, the brake system is used to apply braking force to the wheels to achieve speed control, auxiliary vehicle steering, etc., the power system is used to apply driving force to the wheels to achieve speed control, etc., the human-computer interaction system is used for information interaction with the user, as well as information display and prompting, the user input system includes a steering wheel, an accelerator pedal, a brake pedal, etc., for obtaining user driving data and sending the data to the vehicle controller, and the vehicle controller performs intention recognition based on the data, and the vehicle state monitoring system includes a camera, a laser radar, etc. sensors for monitoring the environment in which the vehicle is located.

[0030] The vehicle control method provided by the embodiments of the present application includes the following steps: S110: In the case of triggering the execution instruction of the target steering operation, the steering wheel steering angle is obtained.

[0031] In an exemplary embodiment, the target steering operation includes a turning operation or a U-turn operation. When the vehicle is driving or the vehicle is started but not moving, if it is determined that the steering assist function of the vehicle is turned on, whether the execution instruction of the target steering operation is triggered is determined by judging whether the user has the intention to control the vehicle to perform the target steering operation. If it is determined that the user has the intention to control the vehicle to perform the target steering operation, it means that the user triggers the execution instruction of the target steering operation, so as to respond to the execution instruction and obtain the steering wheel steering angle of the steering wheel, and then control the vehicle to perform the target steering operation based on the steering wheel steering angle. Wherein, controlling the vehicle to perform the target steering operation includes controlling the vehicle to perform the turning operation or the U-turn operation.

[0032] The determining whether the user has the intention to control the vehicle to perform the target steering operation includes: in a first mode, when it is detected that the steering lever is actuated by the user (for example, the steering lever is actuated downward or upward by the user), if the actual vehicle speed of the vehicle is less than or equal to the second vehicle speed threshold and the steering wheel rotation angle is greater than the first rotation angle threshold, it is considered that the user has the intention to control the vehicle to perform the target steering operation, otherwise, it is considered that the user does not have the intention to control the vehicle to perform the target steering operation. In a second mode, when it is detected that the steering lever is not actuated by the user, if the steering wheel rotation angle is greater than the second rotation angle threshold, it is considered that the user has the intention to control the vehicle to perform the target steering operation, otherwise, it is considered that the user does not have the intention to control the vehicle to perform the target steering operation, the second rotation angle threshold is greater than the first rotation angle threshold, for example, the second rotation angle threshold is 360° and the first rotation angle threshold is 90°.

[0033] S120: controlling the front wheels and the rear wheels to steer according to the steering wheel rotation angle, the steering direction of the rear wheels being opposite to that of the front wheels.

[0034] After the steering wheel rotation angle is obtained, the front wheels are controlled to steer by the front axle steering control system, and the rear wheels are controlled to steer by the rear axle steering control system, the steering direction of the rear wheels being opposite to that of the front wheels, so as to reduce the turning radius of the vehicle. For example, the front wheels steer to the right, and the rear wheels steer to the left; the front wheels steer to the left, and the rear wheels steer to the right.

[0035] Controlling the front wheels to steer according to the steering wheel rotation angle includes: obtaining a target front wheel steering angle of the front wheels according to the correspondence between the steering wheel rotation angle and the front wheel steering angle, and gradually controlling the steering angle of the front wheels to reach the target front wheel steering angle by the front axle steering control system based on the front wheel steering angle increment, so as to realize the steering control of the front wheels. Controlling the rear wheels to steer according to the steering wheel rotation angle includes: determining a target rear wheel steering angle of the rear wheels according to the steering wheel rotation angle, and adjusting the steering angle of the rear wheels to the target rear wheel steering angle based on the rear wheel steering angle increment. Specifically, the target rear wheel steering angle of the rear wheels is obtained according to the correspondence between the steering wheel rotation angle and the rear wheel steering angle, and the steering angle of the rear wheels is gradually controlled to reach the target rear wheel steering angle by the rear axle steering control system based on the rear wheel steering angle increment, so as to realize the steering control of the rear wheels. Wherein, the steering control of the front wheels and the rear wheels is performed simultaneously, the front wheels and the rear wheels follow the steering wheel to steer when the steering wheel rotates, and the front wheels and the rear wheels stop steering when the steering wheel stops rotating.

[0036] S130: obtaining the actual vehicle speed of the vehicle.

[0037] S140: increasing the braking force applied to the target wheels by the braking system and the driving force applied to the front wheels by the power system according to the actual vehicle speed, until the vehicle performs the target steering operation, the target wheels being the rear wheels on the inside of the vehicle steering.

[0038] In the case of controlling the front wheels and the rear wheels to steer, the actual vehicle speed is obtained, and then additional brake control and additional drive control are introduced to continue controlling the vehicle to perform the target steering operation. Specifically, the brake force applied by the brake system to the target wheel is increased and the drive force applied by the power system to the front wheel is increased according to the actual vehicle speed until the vehicle completes the target steering operation, so that, on the basis of the cooperation of the front wheels and the rear wheels to steer, additional brake control is further introduced to the rear wheel on the inside of the steering, thereby generating steering force to assist the vehicle steering through the brake force, and the turning radius of the vehicle can be further reduced. Figure 3 A scene diagram of vehicle turning provided by an embodiment of the present application is shown as follows. Figure 3 As shown in the figure, for the right turning scene, the target wheel is the right rear wheel, and in the case of controlling the front wheels and the rear wheels to steer, the brake force applied by the brake system to the right rear wheel is increased and the drive force applied by the power system to the left front wheel and the right front wheel is increased according to the actual vehicle speed until the vehicle completes the right turning. For the left turning scene, the target wheel is the left rear wheel, and in the case of controlling the front wheels and the rear wheels to steer, the brake force applied by the brake system to the left rear wheel is increased and the drive force applied by the power system to the left front wheel and the right front wheel is increased according to the actual vehicle speed until the vehicle completes the left turning.

[0039] If the execution instruction of the target steering operation is detected during the vehicle driving, the steering control is first performed on the front wheels and the rear wheels according to the steering wheel angle, then the additional brake control is performed on the rear wheel on the inside of the steering of the vehicle based on the vehicle speed, and the drive force of the front wheel is increased, so that the turning radius of the vehicle can be reduced by controlling the front wheels and the rear wheels to steer at the same time, and the turning radius of the vehicle can be further reduced by further performing the additional brake control on the rear wheel on the inside of the steering of the vehicle, thereby improving the passability and traffic efficiency of the vehicle. For a long wheelbase vehicle, the one-time pass rate of the vehicle in the scene of sharp turning road, narrow road and the like can be improved. For the road scene that cannot be passed at one time, the number of times of frequently adjusting the vehicle posture of the user during the execution of the target steering operation of the vehicle can be reduced, which is beneficial to reduce the operation burden of the user. When the brake control is performed on the rear wheel on the inside of the steering of the vehicle, the drive force of the front wheel is increased, so that the deceleration caused by the brake can be offset, the vehicle speed can be maintained stable, the vehicle speed caused by the brake can be avoided, and the continuity of the vehicle driving can be ensured, thereby further improving the convenience and traffic efficiency of the vehicle.

[0040] In a possible implementation manner, the above-mentioned increasing the brake force applied by the brake system to the target wheel and the drive force applied by the power system to the front wheel according to the actual vehicle speed includes the following steps: In the case that the actual vehicle speed is less than or equal to the first vehicle speed threshold, the brake force applied by the brake system to the target wheel is increased based on a first brake force increment, and the drive force applied by the power system to the front wheel is increased based on a first drive force increment, the absolute value of the first brake force increment being the same as the absolute value of the first drive force increment.

[0041] In the case that the front wheel and the rear wheel are controlled to steer, the actual vehicle speed is obtained, and the actual vehicle speed is compared with a first vehicle speed threshold and a second vehicle speed threshold, the first vehicle speed threshold being less than the second vehicle speed threshold, for example, the first vehicle speed threshold being 15 kph, and the second vehicle speed threshold being 30 kph.

[0042] If the actual vehicle speed is greater than the second vehicle speed threshold, and it is considered that the user has no demand to control the vehicle to continue to perform the target steering operation, the rear wheel steering control is exited, specifically, the steering angle of the rear wheel is adjusted to an initial steering angle according to a fixed slope, that is, the steering angle of the rear wheel is gradually adjusted to the initial steering angle based on a rear wheel steering angle reduction amount, so as to realize smooth exit of the rear wheel steering control and recovery of the posture of the rear wheel, avoid instantaneous turning of the tail of the vehicle, affect the stability, and be beneficial to improving the driving safety. The initial steering angle is the steering angle of the rear wheel before the steering angle of the rear wheel is controlled according to the steering angle of the steering wheel.

[0043] If the actual vehicle speed is less than or equal to the first vehicle speed threshold, it is considered that the user still has a demand to control the vehicle to perform the target steering operation, and the brake force applied by the brake system to the target wheel is increased according to a fixed slope, and the drive force applied by the power system to the front wheel is increased according to a fixed slope, that is, the brake force applied by the brake system to the target wheel is gradually increased to a preset brake force based on a first brake force increment, and the drive force applied by the power system to the front wheel is gradually increased based on a first drive force increment, the absolute value of the first brake force increment being the same as the absolute value of the first drive force increment. The preset brake force is the maximum brake force applied by the brake system to the wheel, and when the brake force applied by the brake system to the target wheel reaches the preset brake force, the target wheel will not lock, and the purpose is to gradually call the maximum available brake capacity on the basis of ensuring steering stability, so as to realize the minimum turning radius and ensure that the vehicle completes the turning operation or the U-turn operation in a narrow space.

[0044] In the case that the actual vehicle speed is less than or equal to the first vehicle speed threshold, the brake force applied to the target wheel by the brake system is increased based on the first brake force increment, and the driving force applied to the front wheel by the power system is increased based on the first driving force increment, so as to realize the braking of the rear wheel on the inside of the turning direction of the vehicle, thereby further reducing the turning radius of the vehicle. Moreover, during the increasing of the brake force applied to the target wheel and the increasing of the driving force applied to the front wheel, the increments of the brake force and the driving force are the same, so as to accurately offset the deceleration of the vehicle caused by the braking of the rear wheel on the inside of the turning direction, thereby ensuring the continuity of the vehicle running, and further improving the convenience and efficiency of the vehicle operation.

[0045] In a possible implementation, after the brake force applied to the target wheel by the brake system is increased according to the actual vehicle speed, and the driving force applied to the front wheel by the power system is increased, the vehicle control method further includes the following steps: If the actual vehicle speed at the current time is inconsistent with the historical vehicle speed at the historical time, the brake force applied to the target wheel by the brake system and the driving force applied to the front wheel by the power system are adjusted according to the size relationship between the actual vehicle speed at the current time and the historical vehicle speed.

[0046] During the intervention of the additional brake control and the additional driving control in the target turning operation of the vehicle, the actual vehicle speed of the vehicle at the current time is continuously acquired, and then it is judged whether the actual vehicle speed at the current time is consistent with the historical vehicle speed at the historical time. The historical vehicle speed at the historical time refers to the actual vehicle speed of the vehicle acquired under the condition that only the front wheel and the rear wheel are controlled to turn. If the actual vehicle speed at the current time is inconsistent with the historical vehicle speed at the historical time, it indicates that the actual vehicle speed at the current time is increased or decreased relative to the historical vehicle speed. In order to maintain the stability of the actual vehicle speed of the vehicle and ensure that the vehicle can successfully complete the target turning operation, it is further judged whether the actual vehicle speed at the current time is increased or decreased relative to the historical vehicle speed, that is, the size relationship between the actual vehicle speed at the current time and the historical vehicle speed is determined, and it is judged whether the actual vehicle speed at the current time is increased or decreased relative to the historical vehicle speed according to the size relationship, and then the brake force applied to the target wheel by the brake system and the driving force applied to the front wheel by the power system are adjusted based on the size relationship, so as to maintain the stability of the actual vehicle speed of the vehicle during the execution of the target turning operation, thereby ensuring that the vehicle can successfully complete the target turning operation. If the difference between the actual vehicle speed at the current time and the historical vehicle speed is less than a preset difference, it is considered that the actual vehicle speed at the current time is consistent with the historical vehicle speed, otherwise, it is considered that the actual vehicle speed at the current time is inconsistent with the historical vehicle speed.

[0047] In a possible implementation, the adjusting of the brake force applied to the target wheel by the brake system and the driving force applied to the front wheel by the power system according to the size relationship between the actual vehicle speed at the current time and the historical vehicle speed includes the following steps: If the actual vehicle speed at the current time is greater than the historical vehicle speed, and if the accelerator pedal opening degree is increased, and the actual vehicle speed at the current time is greater than the first vehicle speed threshold and less than or equal to the second vehicle speed threshold, the additional brake force applied by the brake system to the target wheel is cancelled, and the additional drive force applied by the power system to the front wheel is cancelled. If the actual vehicle speed at the current time is greater than the historical vehicle speed, and if the accelerator pedal opening degree is increased and the actual vehicle speed at the current time is greater than the second vehicle speed threshold, the additional brake force applied by the brake system to the target wheel is cancelled, the additional drive force applied by the power system to the front wheel is cancelled, and the steering angle of the rear wheel is restored to the initial steering angle, which is the steering angle of the rear wheel before the steering of the rear wheel is controlled according to the steering wheel angle.

[0048] If the actual vehicle speed at the current time is greater than the historical vehicle speed, it indicates that the vehicle speed has increased, and then it is determined whether the reason for the increase in vehicle speed is an abnormal increase or a normal increase. The abnormal increase refers to that the additional drive force applied to the front wheel is too large, and the additional drive force applied to the front wheel and the additional brake force applied to the target wheel are not balanced, thereby causing the vehicle speed to increase. The normal increase refers to that the user intervenes in the vehicle control, specifically that the user steps on the accelerator pedal to cause the vehicle speed to increase.

[0049] If the actual vehicle speed at the current time is greater than the historical vehicle speed, and if it is determined that the accelerator pedal opening degree is increased and the actual vehicle speed at the current time is greater than the first vehicle speed threshold and less than or equal to the second vehicle speed threshold, it indicates that the reason for the increase in vehicle speed is a normal increase, and it is also believed that only through the steering control of the front wheel and the rear wheel, without the additional intervention of the brake system and the power system, the vehicle can successfully complete the turning or U-turn, so the additional brake control and the additional drive control are exited to intervene in the control of the vehicle to perform the target steering operation. The additional brake control and the additional drive control are exited to intervene in the control of the vehicle to perform the target steering operation, specifically, the additional brake force applied by the brake system to the target wheel is cancelled, and the additional drive force applied by the power system to the front wheel is cancelled, that is, the brake force applied by the brake system to the target wheel is restored to the initial brake force, and the drive force applied by the power system to the front wheel is restored to the initial drive force, so that after the vehicle completes the turning or U-turn, the vehicle can be restored to the normal driving state as soon as possible, which is beneficial to improve the driving naturalness and system response consistency. The initial brake force is the brake force applied by the brake system to the front and rear wheels before the brake force applied by the brake system to the target wheel is increased according to the increase in the actual vehicle speed, and the initial drive force is the drive force applied by the power system to the front and rear wheels before the drive force applied by the power system to the front wheel is increased according to the increase in the actual vehicle speed.

[0050] In the case that the actual vehicle speed at the current time is greater than the historical vehicle speed, if it is determined that the accelerator pedal opening degree is increased and the actual vehicle speed at the current time is greater than the second vehicle speed threshold, it indicates that the reason for the increase in vehicle speed is a normal increase reason, and it is also believed that the vehicle can successfully complete the turning or U-turn only through the front wheel steering control without the intervention of the rear wheel steering control, the additional brake control and the additional drive control of the brake system and the power system, so that the rear wheel steering control, the additional brake control and the additional drive control intervene in the control of the vehicle to perform the target steering operation. The rear wheel steering control, the additional brake control and the additional drive control intervene in the control of the vehicle to perform the target steering operation, specifically, the steering angle of the rear wheel is restored to the initial steering angle, the brake force applied by the brake system to the target wheel is restored to the initial brake force to cancel the additional brake force applied by the brake system to the target wheel, and the drive force applied by the power system to the front wheel is restored to the initial drive force to cancel the additional drive force applied by the power system to the front wheel. In this way, after the vehicle completes the turning or U-turn, the vehicle can quickly recover to the normal driving state, which is beneficial to improve the driving naturalness and system response consistency.

[0051] In a possible implementation, the above step of adjusting the brake force applied by the brake system to the target wheel and the drive force applied by the power system to the front wheel according to the size relationship between the actual vehicle speed at the current time and the historical vehicle speed further includes the following steps: If the actual vehicle speed at the current time is greater than the historical vehicle speed and the accelerator pedal opening degree is not increased, or the actual vehicle speed at the current time is less than the historical vehicle speed and the brake pedal stroke is not increased, the first brake force increment and the first drive force increment are reduced to obtain a second brake force increment and a second drive force increment; The brake force applied by the brake system to the target wheel is increased based on the second brake force increment, and the drive force applied by the power system to the front wheel is increased based on the second drive force increment, until the acceleration of the vehicle is zero; In the case that the acceleration is zero, the step of increasing the brake force applied by the brake system to the target wheel based on the first brake force increment and increasing the drive force applied by the power system to the front wheel based on the first drive force increment is performed.

[0052] In the case that the actual vehicle speed at the current time is greater than the historical vehicle speed, if it is determined that the accelerator pedal opening degree is not increased, it indicates that the reason for the increase in the vehicle speed is an abnormal increase. In order to let the vehicle speed gradually recover to be stable and not to be further increased during the execution of the target steering operation of the vehicle, the rising gradient of the brake force applied to the target wheel by the brake system and the rising gradient of the drive force applied to the front wheel by the power system are reduced. Specifically, the first brake force increment is reduced to obtain a second brake force increment, the first drive force increment is reduced to obtain a second drive force increment, and then the brake force applied to the target wheel by the brake system is increased based on the second brake force increment, and the drive force applied to the front wheel by the power system is increased based on the second drive force increment, until the acceleration of the vehicle is zero. When it is detected that the acceleration of the vehicle is zero, it indicates that the vehicle speed has recovered to be stable. Therefore, in the case that the acceleration is zero, the steps of increasing the brake force applied to the target wheel by the brake system based on the first brake force increment and increasing the drive force applied to the front wheel by the power system based on the first drive force increment are continued to be executed until the target steering operation of the vehicle is completed.

[0053] If the actual vehicle speed at the current time is less than the historical vehicle speed and the brake pedal stroke is not increased, it indicates that the user reduces the vehicle speed without stepping on the brake pedal, and the reason for the reduction in the vehicle speed is that the brake force additionally applied to the target wheel is too large, and the drive force additionally applied to the front wheel and the brake force additionally applied to the target wheel are not balanced, thereby causing the vehicle speed to be reduced. In order to let the vehicle speed gradually recover to be stable and not to be further reduced during the execution of the target steering operation of the vehicle, the rising gradient of the brake force applied to the target wheel by the brake system and the rising gradient of the drive force applied to the front wheel by the power system are reduced. Specifically, the first brake force increment is reduced to obtain a second brake force increment, the first drive force increment is reduced to obtain a second drive force increment, and then the brake force applied to the target wheel by the brake system is increased based on the second brake force increment, and the drive force applied to the front wheel by the power system is increased based on the second drive force increment, until the acceleration of the vehicle is zero. When it is detected that the acceleration of the vehicle is zero, it indicates that the vehicle speed has recovered to be stable. Therefore, in the case that the acceleration is zero, the steps of increasing the brake force applied to the target wheel by the brake system based on the first brake force increment and increasing the drive force applied to the front wheel by the power system based on the first drive force increment are continued to be executed until the target steering operation of the vehicle is completed.

[0054] In a possible implementation manner, the vehicle control method further includes the following steps: During the execution of the target steering operation of the vehicle, the distance between the vehicle and the obstacle is obtained; If the distance is less than the first distance threshold and the actual vehicle speed at the current time is greater than a third speed threshold, a first prompt information is output to prompt the user to reduce the actual vehicle speed to below the third speed threshold, and the third speed threshold is less than the first speed threshold; If the distance is greater than the second distance threshold and the actual vehicle speed at the current time is less than or equal to the third speed threshold, the front wheels and the rear wheels are controlled to steer, the brake system is controlled to apply the brake force to the target wheels, and the drive system is controlled to apply the driving force to the front wheels until the front wheels are controlled to steer; If the distance is less than the third distance threshold and the actual vehicle speed at the current time is less than or equal to the third speed threshold, the vehicle is controlled to stop.

[0055] During the target steering operation of the vehicle, in order to ensure the safety of the vehicle, the distance between the vehicle and the obstacle is obtained in real time by the vehicle state monitoring system, and the actual vehicle speed at the current time is obtained. If the distance is less than the first distance threshold (for example, 50 cm) and the actual vehicle speed at the current time is greater than the third speed threshold, it indicates that the vehicle is moving at the actual vehicle speed at the current time and will collide with the obstacle. In order to prevent the collision, the vehicle outputs the first prompt information, prompting the user to reduce the actual vehicle speed to below the third speed threshold. If the user performs an accelerator pedal intervention, that is, releases the accelerator pedal to reduce the accelerator pedal opening, the vehicle speed is reduced in response to the accelerator pedal opening, and the intervention of the brake system on the vehicle braking is stopped. Then, after determining that the actual vehicle speed of the vehicle is reduced to below the third speed threshold, the steering assistance function is exited. If the user does not perform the accelerator pedal intervention, the vehicle speed is reduced by the intervention of the brake system on the vehicle braking. Then, after determining that the actual vehicle speed of the vehicle is reduced to below the third speed threshold, the steering assistance function is exited. The second distance threshold is greater than the third distance threshold and less than the first distance threshold, for example, the first speed threshold is 15 kph, the second speed threshold is 30 kph, and the third speed threshold is 5 kph.

[0056] If the distance is greater than the second distance threshold (for example, 30 cm) and the actual vehicle speed at the current time is less than or equal to the third speed threshold, it indicates that the vehicle is moving slowly, and although the vehicle will approach the obstacle, there is still operating space and no collision with the obstacle will occur. Therefore, the front wheels and the rear wheels continue to be controlled to steer, and the additional brake control and the additional drive control continue to intervene in the target steering operation control of the vehicle, that is, based on the first brake force increment, the brake force applied by the brake system to the target wheels is increased, and based on the first driving force increment, the driving force applied by the drive system to the front wheels is increased, until the actual vehicle speed is greater than the second speed threshold and the steering wheel angle is less than the preset steering wheel angle, thereby exiting the steering assistance function.

[0057] If the distance is less than a third distance threshold (e.g., 15 cm) and the actual vehicle speed at the current time is less than or equal to a third speed threshold, it indicates that the vehicle is moving slowly and is very close to the obstacle, and if the vehicle continues to move, a collision with the obstacle will occur. Therefore, the vehicle is controlled to stop immediately, and the user is reminded that the vehicle is at risk of collision and needs to adjust the vehicle pose. After the vehicle pose is adjusted, the vehicle is controlled to continue the target steering operation.

[0058] In a possible implementation, the vehicle control method further includes the following steps: In the case of powering on the vehicle, if the opening instruction of the steering assistance function is detected, it is determined whether the execution instruction of the target steering operation is triggered; Or, In the case of powering on the vehicle, the opening state of the steering assistance function is detected; If the opening state is open, it is determined whether the execution instruction of the target steering operation is triggered.

[0059] An operation switch triggering the opening instruction of the steering assistance function is set in advance, and the operation switch includes at least one of a voice switch, a gesture switch, a physical switch, and a virtual switch. After the vehicle is powered on, if the user triggers the operation switch, the opening instruction of the steering assistance function is triggered. After the opening instruction of the steering assistance function is detected, it is determined whether the execution instruction of the target steering operation is triggered. If it is determined that the execution instruction of the target steering operation is triggered, the step of acquiring the steering wheel rotation angle in the case of triggering the execution instruction of the target steering operation is performed. Or, after the vehicle is powered on, if the opening state of the steering assistance function is detected to be open, it is determined whether the execution instruction of the target steering operation is triggered. If it is determined that the execution instruction of the target steering operation is triggered, the step of acquiring the steering wheel rotation angle in the case of triggering the execution instruction of the target steering operation is performed.

[0060] In addition, a memory function of the opening state of the steering assistance function is also set. After the vehicle is powered on, if the user opens the steering assistance function by triggering the operation switch, the opening state of the steering assistance function is set to open. When the vehicle is powered off, if the opening state is open, the vehicle will remember that the opening state is open. When the vehicle is powered on next time, the user does not need to trigger the operation switch again to open the steering assistance function, but the vehicle automatically opens the steering assistance function. If the opening state is closed when the vehicle is powered off, the vehicle will remember that the opening state is closed. When the vehicle is powered on next time, the user needs to trigger the operation switch again to open the steering assistance function.

[0061] In a possible implementation, the vehicle control method further includes the following steps: In the case of detecting the opening instruction or the opening state being opened, if the working states of the brake system, the power system and the vehicle state monitoring system are normal states, and the working state of the target module is an abnormal state, a second prompt information is outputted to prompt the user whether to continue to open the steering auxiliary function; In response to the user selecting to continue to open the steering auxiliary function, the step of judging whether the execution instruction of the target steering operation is triggered is executed.

[0062] The target module includes modules in the vehicle that do not participate in the vehicle steering control, which do not affect the target steering operation of the vehicle, such as the central control screen, the instrument, the air conditioner, etc.

[0063] In order to ensure that the steering auxiliary function can be normally executed after the user actively opens the steering auxiliary function, it is necessary to judge whether the steering auxiliary function can be normally executed. The judgment of whether the steering auxiliary function can be normally executed includes: because the brake system plays a key role in the braking of the vehicle, the power system plays a key role in the safe driving off of the vehicle, and the vehicle state monitoring system plays a key role in the risk decision of the vehicle collision, after the user triggers the opening instruction of the steering auxiliary function through the operation of the switch or the vehicle detects that the opening state of the steering auxiliary function is opened, it is necessary to detect the working state of the brake system, the power system and the vehicle state monitoring system. If the working state of at least one of the brake system, the power system and the vehicle state monitoring system is an abnormal state, it is considered that the steering auxiliary function cannot be normally executed, and then a prompt of the steering auxiliary function failure is outputted, and the function opening is temporarily not supported. If the working states of the brake system, the power system and the vehicle state monitoring system are normal states and the working states of the target modules are normal states, it is considered that the steering auxiliary function can be normally executed, and then the steering auxiliary function is opened. If the working states of the brake system, the power system and the vehicle state monitoring system are normal states and the working states of the target modules are abnormal states, a second prompt information is outputted to prompt the user whether to continue to open the steering auxiliary function. If the user selects to continue to open, the steering auxiliary function is opened, and then the step of judging whether the execution instruction of the target steering operation is triggered is executed. If the user selects to close, the steering auxiliary function is closed, thereby ensuring the safety of the user driving the vehicle.

[0064] The vehicle control method provided in this application reduces the turning radius of the vehicle by controlling the front and rear wheels to turn simultaneously during a target steering operation. Furthermore, by applying additional braking to the rear wheels on the inside of the steering wheel, the turning radius can be further reduced. This improves the one-time pass rate for turning or U-turns in scenarios such as sharp curves and narrow roads. For road scenarios where one-time pass is not possible, it reduces the number of times the user needs to frequently adjust the vehicle's posture during the target steering operation, thus reducing the user's operational burden. When braking the rear wheels on the inside of the steering wheel, increasing the driving force of the front wheels can counteract the deceleration caused by braking, maintaining stable vehicle speed and preventing speed drops due to braking. This ensures the continuity of vehicle travel and further improves the vehicle's handling convenience and traffic efficiency.

[0065] The vehicle control method provided in this application does not rely on a multi-motor powertrain architecture and is applicable to traditional fuel vehicles, single-motor electric vehicles, and single-motor hybrid vehicles with rear-wheel steering systems. Compared to solutions that rely on multi-motor architectures to achieve small-radius steering, it has a wider range of applications. Furthermore, this application utilizes the service braking system to apply adjustable braking force to the inner rear wheels of the vehicle. Because the service braking system has closed-loop control capabilities, the braking force can be continuously and precisely adjusted according to actual steering requirements, thereby achieving flexible control of the turning radius. Compared to solutions based on the parking system outputting constant braking force, this application significantly improves the adaptability and precision of steering control, enabling flexible adjustment of the turning radius.

[0066] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0067] Figure 4 A schematic diagram of the structure of a vehicle control device provided in an embodiment of this application is shown, such as... Figure 4 As shown, the vehicle control device 400 includes: The steering angle acquisition module 410 is used to acquire the steering wheel angle when the execution command of the target steering operation is triggered; The steering control module 420 is used to control the steering of the front and rear wheels according to the steering wheel angle, wherein the steering direction of the rear wheels is the opposite of the steering direction of the front wheels. The vehicle speed acquisition module 430 is used to acquire the actual vehicle speed. The drive control module 440 is used to increase the braking force applied by the braking system to the target wheel and increase the driving force applied by the power system to the front wheel according to the actual vehicle speed, until the vehicle completes the target steering operation, where the target wheel is the rear wheel on the inside of the vehicle's steering path.

[0068] In a possible implementation, the steering control module 420 is specifically configured to determine a target rear wheel steering angle of the rear wheel according to the steering wheel steering angle; and adjust the steering angle of the rear wheel to the target rear wheel steering angle based on a rear wheel steering angle increment.

[0069] In a possible implementation, the driving control module 440 is specifically configured to, in a case where the actual vehicle speed is less than or equal to the first vehicle speed threshold, increase the braking force applied by the braking system to the target wheel based on a first braking force increment, and increase the driving force applied by the power system to the front wheel based on a first driving force increment, the absolute value of the first braking force increment being the same as the absolute value of the first driving force increment.

[0070] In a possible implementation, the vehicle control device further includes: The adjusting unit is configured to, if the actual vehicle speed at the current time is inconsistent with the historical vehicle speed at the historical time, adjust the braking force applied by the braking system to the target wheel and the driving force applied by the power system to the front wheel according to the size relationship between the actual vehicle speed at the current time and the historical vehicle speed.

[0071] In a possible implementation, the adjusting unit includes: The first adjusting sub-unit is configured to, in a case where the actual vehicle speed at the current time is greater than the historical vehicle speed, if the accelerator pedal opening degree increases, the actual vehicle speed at the current time is greater than the first vehicle speed threshold and less than or equal to the second vehicle speed threshold, cancel the additional braking force applied by the braking system to the target wheel, and cancel the additional driving force applied by the power system to the front wheel; and in a case where the actual vehicle speed at the current time is greater than the historical vehicle speed, if the accelerator pedal opening degree increases and the actual vehicle speed at the current time is greater than the second vehicle speed threshold, cancel the additional braking force applied by the braking system to the target wheel, cancel the additional driving force applied by the power system to the front wheel, and restore the steering angle of the rear wheel to an initial steering angle, the initial steering angle being the steering angle of the rear wheel before the steering angle of the rear wheel is controlled according to the steering wheel steering angle.

[0072] In a possible implementation, the adjusting unit includes: The second adjusting sub-unit is configured to, if the actual vehicle speed at the current time is greater than the historical vehicle speed and the accelerator pedal opening degree does not increase, or, reduce the first braking force increment and the first driving force increment to obtain a second braking force increment and a second driving force increment; increase the braking force applied by the braking system to the target wheel based on the second braking force increment, and increase the driving force applied by the power system to the front wheel based on the second driving force increment, until the acceleration of the vehicle is zero; and in a case where the acceleration is zero, perform the steps of increasing the braking force applied by the braking system to the target wheel based on the first braking force increment, and increasing the driving force applied by the power system to the front wheel based on the first driving force increment.

[0073] In a possible implementation, the vehicle control apparatus further includes: The warning unit is configured to: during execution of the target steering operation by the vehicle, acquire a distance between the vehicle and the obstacle; if the distance is less than a first distance threshold and an actual vehicle speed at a current time is greater than a third speed threshold, output a first prompt information to prompt the user to reduce the actual vehicle speed to below the third speed threshold, the third speed threshold being less than the first speed threshold; if the distance is greater than a second distance threshold and the actual vehicle speed at the current time is less than or equal to the third speed threshold, control the front wheels and the rear wheels to steer, control the brake system to apply the braking force to the target wheels, and control the power system to apply the driving force to the front wheels, until the front wheels are controlled to steer; and if the distance is less than a third distance threshold and the actual vehicle speed at the current time is less than or equal to the third speed threshold, control the vehicle to stop, the second distance threshold being greater than the third distance threshold and less than the first distance threshold.

[0074] In a possible implementation, the vehicle control apparatus further includes: The first judging unit is configured to: in a case where the vehicle is powered on, if the opening instruction of the steering assistance function is detected, judge whether the execution instruction of the target steering operation is triggered; or in a case where the vehicle is powered on, detect an opening state of the steering assistance function; and if the opening state is opened, judge whether the execution instruction of the target steering operation is triggered.

[0075] In a possible implementation, the vehicle control apparatus further includes: The second judging unit is configured to: in a case where the opening instruction is detected or the opening state is opened, if the working states of the brake system, the power system and the vehicle state monitoring system are normal states, and the working state of the target module is an abnormal state, output a second prompt information to prompt the user whether to continue to open the steering assistance function, the target module including a module in the vehicle that does not participate in vehicle steering control; and in response to the user selecting to continue to open the steering assistance function, perform the step of judging whether the execution instruction of the target steering operation is triggered.

[0076] It should be noted that the vehicle control apparatus provided in the above-described embodiments is only used to execute the vehicle control method, and the above-described functions are completed by different functional modules in actual application, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above-described functions. In addition, the vehicle control apparatus and the vehicle control method provided in the above-described embodiments belong to the same concept, and therefore, for details not disclosed in the device embodiments of the present application, please refer to the above-described vehicle control method embodiments of the present application, which will not be described here.

[0077] The serial numbers of the above-described embodiments of the present application are only for description, and do not represent the advantages or disadvantages of the embodiments.

[0078] Figure 5 A structural schematic diagram of a vehicle is shown, as shown in the figure, the vehicle 500 includes a memory 501 and a processor 502, wherein the memory 501 stores executable program code 5011, and the processor 502 is configured to invoke and execute the executable program code 5011 to execute a vehicle control method. Figure 5

[0079] The embodiment can divide the functional modules of the vehicle according to the above method examples, for example, each functional module can be divided, or two or more functions can be integrated into one processing module, and the integrated module can be realized in the form of hardware. It should be noted that the division of the modules in the embodiment is illustrative, and is only a logical function division, and another division mode can be used in actual implementation.

[0080] In the case of dividing each functional module according to each function, the vehicle can include a turning angle acquisition module, a steering control module, a vehicle speed acquisition module, a driving control module, and the like. It should be noted that all related contents of each step involved in the above method embodiment can be cited in the function description of the corresponding functional module, and will not be repeated here.

[0081] The vehicle provided by the embodiment is used to execute the above vehicle control method, and therefore can achieve the same effect as the above implementation method.

[0082] In the case of using an integrated unit, the vehicle can include a processing module and a storage module. The processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute related program codes and data.

[0083] The processing module can be a processor or a controller, which can realize or execute various exemplary logical blocks, modules and circuits described in combination with the disclosure of the present application. The processor can also be a combination of computing functions, such as one or more microprocessor combinations, digital signal processing (digital signal processing, DSP) and microprocessor combinations, etc., and the storage module can be a memory.

[0084] The embodiment further provides a computer readable storage medium, the computer readable storage medium stores computer program code, when the computer program code runs on the computer, the computer program code makes the computer execute the above related method steps to realize the vehicle control method in the above embodiment.

[0085] ​The embodiment also provides a computer program product, which, when running on a computer, causes the computer to execute the above related steps to implement the vehicle control method in the above embodiment.

[0086] In addition, the vehicle provided by the embodiment of the application can be a chip, a component or a module, and the vehicle can include a connected processor and a memory; the memory is used to store instructions, and the processor can invoke and execute the instructions when the vehicle is running, so that the chip executes the vehicle control method in the above embodiment.

[0087] The vehicle, the computer readable storage medium, the computer program product or the chip provided by the embodiment can be used to execute the corresponding vehicle control method provided above, and thus the beneficial effects achieved thereby can refer to the beneficial effects of the corresponding vehicle control method provided above, which will not be described here again.

[0088] From the above description of the embodiments, those skilled in the art can understand that, for the convenience and brevity of description, only the division of the above functional modules is taken as an example for illustration, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0089] In the embodiments provided by the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are only schematic, and the division of the modules or units is only a logical function division, and there can be another division way in actual implementation, for example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection between each other can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or in other forms.

[0090] The above only describes specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vehicle control method characterized by, The vehicle control method comprises: in the case of triggering the execution instruction of the target steering operation, acquiring a steering wheel steering angle; controlling the front wheels and the rear wheels to steer according to the steering wheel steering angle, the steering direction of the rear wheels being opposite to that of the front wheels; acquiring an actual vehicle speed of the vehicle; increasing the braking force applied by the braking system to the target wheel and the driving force applied by the power system to the front wheels according to the actual vehicle speed until the vehicle completes the target steering operation, the target wheel being the rear wheel on the inside of the vehicle steering.

2. The vehicle control method according to claim 1, characterized by, controlling the rear wheels to steer according to the steering wheel steering angle comprises: determining a target rear wheel steering angle of the rear wheels according to the steering wheel steering angle; adjusting the steering angle of the rear wheels to the target rear wheel steering angle based on a rear wheel steering angle increment.

3. The vehicle control method according to claim 2, characterized by, the increasing the braking force applied by the braking system to the target wheel and the driving force applied by the power system to the front wheels according to the actual vehicle speed comprises: in the case that the actual vehicle speed is less than or equal to a first vehicle speed threshold, increasing the braking force applied by the braking system to the target wheel based on a first braking force increment and increasing the driving force applied by the power system to the front wheels based on a first driving force increment, the absolute value of the first braking force increment being the same as that of the first driving force increment.

4. The vehicle control method according to claim 3, characterized by, after the increasing the braking force applied by the braking system to the target wheel and the driving force applied by the power system to the front wheels according to the actual vehicle speed, the vehicle control method further comprises: if the actual vehicle speed at the current time is inconsistent with the historical vehicle speed at the historical time, adjusting the braking force applied by the braking system to the target wheel and the driving force applied by the power system to the front wheels according to the size relationship between the actual vehicle speed at the current time and the historical vehicle speed.

5. The vehicle control method according to claim 4, characterized by the adjusting the braking force applied by the braking system to the target wheel and the driving force applied by the power system to the front wheels according to the size relationship between the actual vehicle speed at the current time and the historical vehicle speed comprises: in the case that the actual vehicle speed at the current time is greater than the historical vehicle speed, if the accelerator pedal opening degree increases, the actual vehicle speed at the current time is greater than the first vehicle speed threshold and less than or equal to a second vehicle speed threshold, the additional braking force applied by the braking system to the target wheel is cancelled, and the additional driving force applied by the power system to the front wheels is cancelled; in the case that the actual vehicle speed at the current time is greater than the historical vehicle speed, if the accelerator pedal opening degree increases and the actual vehicle speed at the current time is greater than the second vehicle speed threshold, the additional braking force applied by the braking system to the target wheel is cancelled, the additional driving force applied by the power system to the front wheels is cancelled, and the steering angle of the rear wheels is restored to an initial steering angle, the initial steering angle being the steering angle of the rear wheels before the rear wheels are controlled to steer according to the steering wheel steering angle.

6. The vehicle control method according to claim 4, characterized by The adjusting the brake force applied by the brake system to the target wheel and the drive force applied by the power system to the front wheel based on the size relationship between the actual vehicle speed at the current time and the historical vehicle speed comprises: If the actual vehicle speed at the current time is greater than the historical vehicle speed and the accelerator pedal opening degree does not increase, or, the first brake force increment and the first drive force increment are reduced to obtain a second brake force increment and a second drive force increment; The brake force applied by the brake system to the target wheel is increased based on the second brake force increment, and the drive force applied by the power system to the front wheel is increased based on the second drive force increment, until the acceleration of the vehicle is zero; In the case where the acceleration is zero, the step of increasing the brake force applied by the brake system to the target wheel based on the first brake force increment and increasing the drive force applied by the power system to the front wheel based on the first drive force increment is performed.

7. The vehicle control method according to any one of claims 1 to 6, characterized by, The vehicle control method further comprises: During the execution of the target steering operation by the vehicle, the distance between the vehicle and the obstacle is obtained; If the distance is less than a first distance threshold and the actual vehicle speed at the current time is greater than a third speed threshold, a first prompt information is output to prompt the user to reduce the actual vehicle speed to below the third speed threshold, the third speed threshold being less than the first speed threshold; If the distance is greater than a second distance threshold and the actual vehicle speed at the current time is less than or equal to the third speed threshold, the front wheel and the rear wheel are controlled to steer, the brake force applied by the brake system to the target wheel is controlled, and the drive force applied by the power system to the front wheel is controlled, until the front wheel is controlled to steer; If the distance is less than a third distance threshold and the actual vehicle speed at the current time is less than or equal to the third speed threshold, the vehicle is controlled to stop, the second distance threshold being greater than the third distance threshold and less than the first distance threshold.

8. The vehicle control method according to any one of claims 1 to 6, characterized by, The vehicle control method further comprises: In the case where the vehicle is powered on, if an opening instruction of a steering assist function is detected, it is judged whether an execution instruction of the target steering operation is triggered; Or, In the case where the vehicle is powered on, the opening state of the steering assist function is detected; If the opening state is open, it is judged whether the execution instruction of the target steering operation is triggered.

9. The vehicle control method according to claim 8, characterized by, The vehicle control method further comprises: In the case where the opening instruction or the opening state is open is detected, if the working state of the brake system, the power system and a vehicle state monitoring system is a normal state and the working state of a target module is an abnormal state, a second prompt information is output to prompt the user whether to continue to open the steering assist function, the target module comprising a module in the vehicle that does not participate in vehicle steering control; In response to the user selecting to continue to open the steering assist function, the step of judging whether the execution instruction of the target steering operation is triggered is performed.

10. A vehicle characterized by comprising: The vehicle comprises: a memory for storing executable program code; A processor is configured to call and run the executable program code from the memory, so that the vehicle executes the vehicle control method according to any one of claims 1 to 9.

11. A computer readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and when the computer program is executed, the vehicle control method according to any one of claims 1 to 9 is implemented.

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