Method and device for controlling a vehicle to perform a u-turn, vehicle and storage medium

Abstract

This invention discloses a method, device, and vehicle storage medium for controlling a U-turn in place. The method includes: triggering the U-turn function; the user inputting rotation direction information, which includes at least the U-turn direction and / or the target U-turn angle; prompting the user to operate the brake pedal; the brake pedal depth exceeding a depth threshold and the vehicle gear shifted to D; prompting the user to release the brake pedal to trigger the U-turn; after the brake pedal is released, the vehicle performs a U-turn in the direction of rotation until the stopping conditions for the U-turn are met; during the U-turn, the steering wheel is kept in a straight position. The method and device of this invention allow drivers to control the U-turn operation more flexibly, reducing the difficulty of performing U-turns in place. The method is applicable to intelligent driving systems, improving the safety and operability of U-turns in place and reducing potential safety risks.

Description

[0001] (This application is a divisional application of the invention patent application with application number 202311181719.5, application date 2023.09.13, and invention title "Method and control device for turning around in place, vehicle and storage medium") Technical Field This invention relates to the field of vehicle technology, and in particular to a method for controlling U-turns in place, a device for controlling U-turns in place, a vehicle, and a computer-readable storage medium. Background Technology

[0002] In related technologies, U-turns on the spot typically require the driver to control the vehicle by turning the steering wheel. However, there is a limitation: the U-turn mode is only activated when the steering wheel angle exceeds a certain threshold. This limitation may pose a safety hazard to novice drivers, as if the driver fails to turn the steering wheel to a sufficiently large angle, the vehicle may stall or deviate from its safe path during the U-turn, especially on busy roads or in traffic conditions. This could lead to unstable operation and safety risks. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one object of the present invention is to provide a method for controlling a U-turn in place, which allows the driver to control the U-turn operation of the vehicle more flexibly, reduces the difficulty of the U-turn operation, improves the safety and operability of the U-turn operation, and reduces potential safety risks.

[0004] The second objective of this invention is to provide a device for controlling a U-turn in place.

[0005] The third objective of this invention is to provide a vehicle.

[0006] The fourth objective of this invention is to provide a computer-readable storage medium.

[0007] To achieve the above objectives, the on-the-spot U-turn control method of the first aspect of the present invention includes: acquiring rotation direction information of on-the-spot U-turn input by a user through a display device; and controlling the vehicle to perform on-the-spot U-turn according to the rotation direction information until the stopping conditions of on-the-spot U-turn are met.

[0008] According to the U-turn control method of the present invention, by acquiring the rotation direction information of the U-turn, the vehicle is controlled to make a U-turn until the stopping condition of the U-turn is met. This means that the driver can control the U-turn operation of the vehicle more intuitively without relying on a specific steering wheel angle, making the driver more flexible in controlling the U-turn operation, reducing the difficulty of the U-turn operation, improving the driver's operational flexibility and safety, and setting the stopping condition can ensure that the U-turn ends at an appropriate time to avoid excessive or continuous U-turns, thereby reducing potential safety risks.

[0009] In some embodiments, stopping until the conditions for turning around in place are met includes: until any one of the following conditions is met: the brake pedal depth of the vehicle is greater than a preset depth threshold; a request command to exit the stationary turning mode is received from the user via a display device; the steering wheel angle of the vehicle is greater than a preset angle threshold; or the vehicle rotation angle reaches the target angle for turning around.

[0010] In some embodiments, before acquiring the turning direction information of a U-turn input by the user through a display device, the U-turn control method further includes: in response to a U-turn start command, acquiring a steering wheel angle value; determining that the steering wheel angle value is less than a preset angle threshold, and providing a U-turn function setting interface for the user to input the turning direction information.

[0011] In some embodiments, controlling a vehicle to make a U-turn based on the rotation direction information includes: controlling the rotation direction information to determine a first rotation direction of one wheel of the vehicle and a second rotation direction of the other wheel of the vehicle, wherein the first rotation direction and the second rotation direction are opposite.

[0012] In some embodiments, the in-situ U-turn control method further includes: acquiring ground scene information for the U-turn.

[0013] In some embodiments, controlling a vehicle to make a U-turn based on the rotation direction information includes: applying a first driving torque in a first direction to one wheel of the vehicle based on the rotation direction information and the U-turn ground scene information, and applying a second driving torque in a second direction to the other wheel of the vehicle, wherein the first direction and the second direction are opposite directions, and the first driving torque and the second driving torque are not equal.

[0014] In some embodiments, controlling the vehicle to make a U-turn based on the rotation direction information further includes: when the front wheels of the vehicle generate a left or right rotation angle and the rotation angle is within the preset rotation angle threshold, controlling the rear wheels of the vehicle to rotate in the opposite direction according to a preset correspondence with the front wheels on the corresponding side of the vehicle.

[0015] In some embodiments, after obtaining the rotation direction information for a U-turn input by the user through a display device, the U-turn control method further includes: prompting the user to operate the brake pedal; detecting that the pedal depth of the brake pedal is greater than a preset depth threshold and the vehicle gear is switched from P to D; and prompting the user with U-turn operation information.

[0016] In some embodiments, the in-place U-turn control method further includes: acquiring in-place U-turn mode setting information; determining a target in-place U-turn mode based on the in-place U-turn mode setting information, wherein the target in-place U-turn mode includes a driver control mode or an automatic control mode.

[0017] In some embodiments, acquiring the turning direction information for a U-turn input by the user via a display device includes: in the driver control mode, acquiring at least the U-turn direction input by the user via the display device; and in the automatic control mode, acquiring at least the U-turn direction and the U-turn target angle input by the user via the display device.

[0018] In some embodiments, during the driver control mode, the prompting the user for a U-turn operation includes at least one of the following: releasing the brake pedal to trigger a U-turn, and adjusting the steering speed in response to accelerator pedal information while the vehicle is turning; keeping the steering wheel in a straight position while the vehicle is turning; and exiting the driver control mode when the vehicle is turning, in response to the brake pedal depth exceeding the preset depth threshold.

[0019] In some embodiments, in driver control mode, the U-turn control method further includes: controlling the vehicle to rotate at a preset yaw rate when the vehicle is turning; controlling the vehicle to change its yaw rate in response to an accelerator pedal command, following the opening of the accelerator pedal; and controlling the vehicle to continue rotating at the preset yaw rate after the accelerator pedal is released.

[0020] In some embodiments, in automatic control mode, the prompting the user for a U-turn operation includes at least one of the following: releasing the brake pedal to trigger a U-turn, and automatically stopping the vehicle after it rotates to the set U-turn target angle; keeping the steering wheel in a straight position while the vehicle is turning; and exiting the automatic control mode when the vehicle is turning, in response to the brake pedal depth exceeding the preset depth threshold.

[0021] To achieve the above objectives, a U-turn control device according to a second aspect of the present invention includes: at least one processor; a memory communicatively connected to the at least one processor; the memory storing a computer program executable by the at least one processor, wherein the at least one processor executes the computer program to implement the U-turn control method described in the above embodiment.

[0022] According to the U-turn control device of the present invention, the processor executes the U-turn control method described in the above embodiment, obtains the rotation direction information of the U-turn, and controls the vehicle to make a U-turn until the stopping condition of the U-turn is met. This means that the driver can control the U-turn operation of the vehicle more intuitively without relying on a specific steering wheel angle, making the driver more flexible in controlling the U-turn operation, reducing the difficulty of the U-turn operation, improving the driver's operational flexibility and safety, and setting the stopping condition can ensure that the U-turn ends at an appropriate time to avoid excessive or continuous U-turns, thereby reducing potential safety risks.

[0023] To achieve the above objectives, the vehicle of the third aspect of the present invention is used to implement the on-the-spot U-turn control method described in the above embodiments.

[0024] According to the vehicle of the present invention, by adopting the on-the-spot U-turn control method described in the above embodiments, the driver can more flexibly control the on-the-spot U-turn operation, reduce the difficulty of the on-the-spot U-turn operation, improve the safety and operability of the on-the-spot U-turn operation, and reduce potential safety risks.

[0025] To achieve the above objectives, a computer-readable storage medium according to a fourth aspect of the present invention stores a computer program thereon, which, when executed, implements the in-situ U-turn control method described in the above embodiments.

[0026] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0027] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a flowchart of a method for controlling a U-turn in place according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the setting interface for the U-turn function according to an embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the principle of a U-turn in place according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a vehicle with rear-wheel steering making a U-turn in place according to an embodiment of the present invention. Figure 5 This is a timing diagram of a driver control mode according to an embodiment of the present invention; Figure 6 This is a timing diagram of an automatic control mode according to an embodiment of the present invention; Figure 7 This is a general flowchart of a method for controlling a U-turn in place according to an embodiment of the present invention; Figure 8 This is a block diagram of a U-turn control device according to an embodiment of the present invention.

[0028] Figure label: U-turn control device 1; Processor 10; Memory 20. Detailed Implementation

[0029] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0030] The following is for reference. Figures 1-7 A method for controlling a U-turn in place according to an embodiment of the present invention is described.

[0031] Figure 1 This is a flowchart of a U-turn control method according to an embodiment of the present invention, as shown below. Figure 1 As shown, the method for controlling a U-turn in place includes at least steps S1-S2, as detailed below.

[0032] S1, obtain the rotation direction information of the in-place U-turn input by the user through the display device.

[0033] The turning direction information for a U-turn can be crucial information used by the user or system to configure the U-turn operation. This information may include, but is not limited to, the turning direction, the turning angle, and other information.

[0034] In some embodiments, the turning direction information for a U-turn can be obtained in various ways, such as through a display device, voice recognition, or sensors (e.g., cameras, radar, and laser sensors). Specifically, the user can use a display device on the vehicle, such as a touchscreen PAD (Personal Access Device) or an instrument cluster display, to input the turning direction information for a U-turn. The user can select options such as control mode, direction, and angle on the screen. Alternatively, the user can issue configuration commands for the turning direction information for a U-turn via voice. Furthermore, the system can be equipped with sensors for the vehicle's current position and surrounding environment information to automatically determine the turning direction information for a U-turn, such as the U-turn direction and angle, to better adapt to driving conditions.

[0035] S2 controls the vehicle to make a U-turn on the spot based on the rotation direction information until the stopping conditions for a U-turn are met.

[0036] In some embodiments, controlling a vehicle to perform a U-turn based on rotation direction information can be achieved by controlling the differential operation of the wheels on both sides of the vehicle. Specifically, by controlling the power output of the wheels on both sides, one wheel can rotate faster while the other wheel rotates slower. This typically involves the operation of a differential, which can distribute power to each wheel to achieve the desired differential operation, thereby enabling the U-turn. During the U-turn, the system can continuously monitor the vehicle's status and environmental conditions, and dynamically adjust the differential operation parameters based on real-time data. For example, when encountering obstacles or different ground slopes, the system can adjust the differential operation parameters to ensure safety and stability.

[0037] According to the U-turn control method of the present invention, by acquiring the rotation direction information of the U-turn, the vehicle is controlled to make a U-turn until the stopping condition of the U-turn is met. This means that the driver can control the U-turn operation of the vehicle more intuitively without relying on a specific steering wheel angle, making the driver more flexible in controlling the U-turn operation, reducing the difficulty of the U-turn operation, improving the driver's operational flexibility and safety, and setting the stopping condition can ensure that the U-turn ends at an appropriate time to avoid excessive or continuous U-turns, thereby reducing potential safety risks.

[0038] In some embodiments, the stopping condition until a U-turn is met includes: until any one of the following conditions is met: First, the brake pedal depth must exceed a preset threshold. This means that if the driver presses the brake pedal during a U-turn and the depth reaches the preset threshold, the U-turn will stop. This is a common operating procedure; drivers typically press the brake pedal to slow down or stop. Therefore, when the driver wishes to terminate the U-turn, they simply need to press the brake pedal to a certain depth, and the vehicle will respond and stop the U-turn.

[0039] Second, the system receives a user's request to exit the stationary turning mode via the display device. This condition allows the driver to request to exit the stationary turning mode via the display device. This is a very intuitive way to allow the driver to actively terminate the stationary U-turn operation as needed. For example, if the driver suddenly finds something unsuitable or an obstacle while performing a stationary U-turn, they can issue an exit command through the display device.

[0040] Third, the vehicle's steering wheel angle exceeds a preset angle threshold. This means that if the driver rapidly turns the steering wheel during a U-turn, and the steering wheel angle exceeds the preset angle threshold, the vehicle will stop making the U-turn. This is also a safety mechanism to handle sudden driver maneuvers.

[0041] Fourth, the vehicle's rotation angle reaches the target U-turn angle. This means that when the vehicle's rotation angle reaches the preset target U-turn angle, the U-turn operation will stop. This condition ensures that the vehicle completes the expected U-turn action; once the target U-turn angle is reached, the system will stop the U-turn operation.

[0042] Therefore, these stopping conditions make U-turns more intelligent and flexible, allowing the operation to stop based on different driving scenarios and needs, thus improving the controllability and safety of U-turns. This multi-condition stopping design can adapt to different driving situations, thereby enhancing practicality.

[0043] In some embodiments, the related technology controls a vehicle to make a U-turn by turning the steering wheel, and the U-turn mode is only activated when the steering wheel is turned beyond a certain threshold. This may cause the vehicle's wheels to not remain in a horizontal position during the U-turn, thereby reducing the vehicle's handling and stability during the U-turn. Therefore, before obtaining the steering direction information for the U-turn input by the user through the display device, it is necessary to obtain the steering wheel angle value in response to the U-turn start command. It is determined that the steering wheel angle value is less than a preset angle threshold, and a U-turn function setting interface is provided for the user to input U-turn setting information.

[0044] Specifically, when the system receives a command to initiate a U-turn, it will detect the current steering wheel angle. This command can be manually input by the driver, such as by pressing a specific button or via voice command, or it can be automatically detected by the system when a U-turn is required. The steering angle value is used to determine whether the driver has begun turning the steering wheel to initiate the U-turn.

[0045] Furthermore, the current steering wheel angle is compared with a preset steering angle threshold. The preset steering angle threshold is a pre-set threshold representing the maximum angle the vehicle's front wheels are allowed to rotate. If the steering wheel angle is less than the preset steering angle threshold, the system will provide a U-turn function settings interface (see appendix). Figure 2 This interface allows users to input information about U-turn settings. Users can select parameters such as driving scenario, control mode, U-turn direction, and U-turn angle on this screen to personalize their U-turn operation.

[0046] In some embodiments, controlling a vehicle to perform a U-turn based on rotation direction information includes: controlling the rotation direction information to determine a first rotation direction of one side of the vehicle's wheels and a second rotation direction of the other side of the vehicle's wheels, wherein the first rotation direction and the second rotation direction are opposite. This is because in a U-turn operation, the vehicle needs to rotate around its own axis, rather than moving in a straight line in one direction. If the first rotation direction and the second rotation direction are the same, the vehicle will only move forward or backward in one direction without rotation. Therefore, to achieve a U-turn operation, it is necessary to ensure that the first rotation direction and the second rotation direction are opposite.

[0047] In some embodiments, the in-situ U-turn control method further includes: acquiring ground scene information for the U-turn. The ground scene information for the U-turn may include information such as road conditions, road type, ground slope, and obstacles.

[0048] Road conditions can include the current state of the road surface, such as dry, slippery, muddy, or covered in ice and snow. Different road conditions may require different strategies for turning around on the spot to ensure vehicle stability. Road surface type can include the material of the current road surface, such as asphalt, concrete, gravel, or grass. Different road surface types may have different effects on vehicle traction and control. Ground slope can include uphill, downhill, and flat; understanding whether the ground slope is steep or sloping can affect the vehicle's performance when turning around on the spot. If the ground is sloping, the system may need to adjust the differential movement of the wheels to maintain balance. Obstacles can include fixed obstacles, such as road barriers, curbs, guardrails, traffic sign poles, utility poles, and buildings. These objects are usually stationary but may affect the turning operation. Moving obstacles can include vehicles, pedestrians, bicycles, motorcycles, and other objects that may move along the turning path. These moving obstacles require special attention to ensure the safety of turning around on the spot.

[0049] In some embodiments, controlling a vehicle to make a U-turn based on rotation direction information includes: applying a first driving torque in a first direction to one wheel of the vehicle, and applying a second driving torque in a second direction to the other wheel of the vehicle, based on the rotation direction information and the ground scene information of the U-turn. The first and second directions are opposite. Furthermore, the first and second driving torques are not equal. This is because when the first and second driving torques are not equal, one wheel of the vehicle receives a greater driving force, while the other wheel receives a smaller driving force. This imbalance results in differentiated wheel motion, where one wheel rotates faster than the other. The vehicle can then begin to rotate around its center point. This is crucial for achieving a U-turn or rotation, as this unbalanced wheel motion causes the vehicle to rotate along a circular or curved path instead of traveling in a straight line.

[0050] Figure 3 This is a schematic diagram of a U-turn in place according to an embodiment of the present invention, as follows: Figure 3 As shown, taking a clockwise U-turn as an example, the left wheel can act as the outer wheel, applying a positive driving torque: the outer front wheel T_LF and the outer rear wheel T_LR. The right wheel can act as the inner wheel, applying a negative torque: the inner front wheel T_RF and the inner rear wheel T_RR. By applying a reverse driving torque to the inner wheel and a positive driving torque to the outer wheel, the differential torque between the inner and outer wheels generates a yaw moment at the vehicle's center of gravity. When the yaw moment is large enough, the vehicle breaks through the road surface adhesion and begins to rotate, thus achieving the U-turn function.

[0051] In some embodiments, controlling the vehicle to make a U-turn based on the rotation direction information further includes: when the front wheels of the vehicle generate a left or right rotation angle and the rotation angle is within a preset rotation angle threshold, controlling the rear wheels of the vehicle to rotate in the opposite direction to the corresponding front wheels of the vehicle according to a preset correspondence. This is equivalent to applying steering forces in different directions to the front and rear of the vehicle respectively. The purpose of this control is to help the vehicle maintain balance, especially when making a U-turn, where the movement between the front and rear of the vehicle needs to be coordinated. By making the rear wheels follow the movement of the front wheels, the rotation of the vehicle can be better realized, allowing the vehicle to rotate around its own center point without losing balance, thereby increasing the driver's control over the vehicle and improving driving maneuverability and stability.

[0052] Figure 4 This is a schematic diagram of a U-turn by a vehicle with rear-wheel steering according to an embodiment of the present invention, as shown below. Figure 4 As shown, rear-wheel steering can maintain vehicle balance when the front wheels generate a certain turning angle, but still within a preset turning angle threshold, by changing the rear wheel's turning angle in accordance with the front wheel's rotation angle. Specifically, when the front wheels generate a turning angle θ, the rear wheels generate a following turning angle α in the opposite direction to the front wheels according to a preset correspondence. The relationship between the two can be proportional, exponential, or some kind of correspondence, so that the vehicle is in a balanced state and rotates around its center of mass.

[0053] In some embodiments, after obtaining the turning direction information for a U-turn input by the user via the display device, the system will prompt the user to operate the brake pedal. This means that before performing a U-turn, the user needs to depress the brake pedal to ensure that the vehicle can be controlled by deceleration when making the U-turn.

[0054] Furthermore, the system can monitor the depth of the brake pedal, i.e., the degree to which the user presses the brake pedal. When the brake pedal depth exceeds a preset depth threshold, the system can shift the vehicle's gear from P to D to prepare for a U-turn.

[0055] Furthermore, once the system detects that the brake pedal operation and gear shift are ready, it can provide the user with information for making a U-turn. This may include informing the user to release the brake pedal to trigger the U-turn, and providing information on how to control the steering wheel and throttle to control steering speed.

[0056] In some embodiments, the on-the-spot U-turn control method further includes: acquiring on-the-spot U-turn mode setting information; determining a target on-the-spot U-turn mode based on the on-the-spot U-turn mode setting information, wherein the target on-the-spot U-turn mode includes a driver control mode or an automatic control mode.

[0057] Specifically, based on the user-input U-turn mode settings, the system can determine the target U-turn mode. If the U-turn mode settings indicate that the driver has selected manual control for the U-turn, the system will determine the driver control mode as the target U-turn mode. If the U-turn mode settings indicate that the driver has selected automatic control for the U-turn, the system will determine the automatic control mode as the target U-turn mode.

[0058] In some embodiments, in driver control mode, the driver has direct control and can manually determine the speed, direction, and angle of the U-turn by manipulating the steering wheel, brake pedal, and accelerator pedal. This mode is suitable for situations where the driver wishes to perform the U-turn personally, is confident in the U-turn conditions, and is willing to assume responsibility for the operation. This mode is typically used for normal road driving and low-risk U-turn situations.

[0059] In automatic control mode, the vehicle's U-turn operation is automatically controlled by the system, executed based on the U-turn direction and target angle from the turning direction information, without requiring direct driver intervention. This mode is suitable for situations where the driver wants the vehicle to perform U-turns automatically, such as when the U-turn conditions are uncertain or unfamiliar, or when road conditions are complex and an advanced driver assistance system is needed to ensure safety.

[0060] In some embodiments, in driver control mode, after selecting the U-turn direction, the PAD prompts the user to depress the brake pedal and shift to D gear, keeping the brake pedal depressed during this process. When the user shifts to D gear, the instrument panel displays information indicating a stationary U-turn operation, including at least one of the following: First, releasing the brake pedal triggers the vehicle to perform a U-turn, and the turning speed is adjusted in response to the accelerator pedal input as the vehicle turns. This allows the user to increase or decrease the turning speed as needed during the U-turn for more precise control.

[0061] Secondly, keep the steering wheel in the straight position when turning the vehicle to make a U-turn. Excessive steering wheel angle can cause the function to disengage, so users need to keep the steering wheel back to the normal driving position to ensure the vehicle remains stable when making a U-turn.

[0062] Third, when the vehicle is making a U-turn, it will exit driver control mode in response to the brake pedal depth exceeding a preset threshold. This is to ensure user safety; if the brake pedal depth indicates that the user may want to stop the U-turn operation, the system will exit driver control mode or automatically switch to another mode accordingly.

[0063] Figure 5 This is a timing diagram of a driver control mode according to an embodiment of the present invention, such as... Figure 5 As shown, the on-the-spot U-turn control method also includes: when the driver releases the brake pedal, and the brake pedal depth is within a preset depth threshold, VOT is enabled, and the vehicle enters driver control mode. At this time, when the vehicle is turning, it is controlled to continue rotating at a preset yaw rate. This preset yaw rate can be a relatively low yaw rate at idle. The yaw rate can be adjusted or set by parameters, and is usually set to a relatively low value. This means the vehicle performs the U-turn at a lower rotational speed, but this speed can be adjusted as needed to meet specific driving conditions or user preferences. Through calibrable settings, the vehicle's U-turn operation can be customized according to specific circumstances to provide better handling and stability.

[0064] Furthermore, in response to accelerator pedal commands, the vehicle's yaw rate is controlled to vary according to the accelerator pedal opening. For example, when the user presses the accelerator pedal and the accelerator pedal opening increases, the yaw rate can increase accordingly, thereby accelerating the U-turn operation.

[0065] Furthermore, once the accelerator pedal is released, the vehicle continues to rotate at a preset yaw rate, such as the yaw rate at idle. This means that even if the user releases the accelerator pedal during a U-turn, the vehicle will continue to rotate at the yaw rate at idle, which helps maintain the stability of the U-turn and ensures that the vehicle remains controllable during the operation.

[0066] Furthermore, when the driver presses the brake pedal, if the pedal depth exceeds a preset depth threshold, the VOT status is set to 0, and the U-turn function is deactivated in driver control mode.

[0067] In some embodiments, in automatic control mode, after selecting the U-turn direction and target angle, the instrument panel prompts the user to depress the brake pedal and shift to D gear, keeping the brake pedal depressed throughout this process. When the user shifts to D gear, the instrument panel displays information for a stationary U-turn, including at least one of the following: First, releasing the brake pedal triggers the vehicle to make a U-turn on the spot, and the vehicle automatically stops after turning to the set U-turn target angle. This eliminates the need for the driver to manually stop the vehicle, increasing operational convenience.

[0068] Second, keep the steering wheel in the straight position when turning the vehicle to make a U-turn. This means that in automatic control mode, the steering wheel can remain in the straight position without driver intervention. This ensures the vehicle remains stable during the U-turn and reduces the driver's workload.

[0069] Third, when making a U-turn, the vehicle will exit automatic control mode in response to the brake pedal depth exceeding a preset threshold. This is to increase safety and user control. If the user suddenly slams on the brake pedal in automatic control mode, the vehicle can exit automatic mode, allowing the driver to intervene at any time and stop the U-turn.

[0070] Therefore, this operational information makes performing a U-turn in automatic control mode safer and more controllable, while also providing users with some flexibility to manually intervene or stop the operation when necessary. This helps improve vehicle handling and stability.

[0071] Figure 6 This is a timing diagram of an automatic control mode according to an embodiment of the present invention, such as... Figure 6 As shown, the on-the-spot U-turn control method also includes: when the driver releases the brake pedal, and the brake pedal depth is within a preset depth threshold, VOT is enabled, and the vehicle enters automatic control mode. In this mode, the vehicle begins to rotate, and the rotation is automatically controlled according to a preset U-turn target angle, meaning the vehicle will rotate to the preset U-turn target angle. Once the vehicle reaches the preset U-turn target angle, the automatic control mode will stop the vehicle. Then, the vehicle will automatically shift from D gear to P gear to complete the on-the-spot U-turn operation.

[0072] Figure 7 This is a general flowchart of a U-turn control method according to an embodiment of the present invention, as follows: Figure 7 As shown, the overall process of the in-situ U-turn control method includes at least steps S10-S26, as detailed below.

[0073] S10, Begin.

[0074] S11, the driver can select the U-turn function via the instrument panel or PAD.

[0075] S12, the vehicle enters the U-turn function interface, and the PAD displays an introduction to the VOT function and its application scenarios.

[0076] S13, determine whether the steering wheel angle value is less than the preset angle threshold. If yes, proceed to step S14; otherwise, return to step S12.

[0077] Specifically, when the driver taps to enter the VOT function, the system will determine whether the wheel angle is within a preset angle threshold. If the vehicle's steering wheel angle exceeds the preset angle threshold, the VOT function will not be activated, and the user will be prompted on the PAD to "Straighten the steering wheel before proceeding." When the steering wheel angle is within the preset angle threshold, the user will enter the VOT function interface.

[0078] S14, the driver selects the application scenario through the instrument panel, which may include, but is not limited to, ice, snow, mud and sand.

[0079] S15 determines the target U-turn mode selected by the driver via the instrument panel.

[0080] S16, when the user selects the driver control mode, they need to continue selecting the vehicle's U-turn direction.

[0081] S17, the user operates the brake pedal and shifts the gear from P to D. After the gear shift, the user releases the brake pedal, activating the driver control mode.

[0082] S18, driver control mode is in operation, PAD prompts "U-turn function in operation".

[0083] S19, determine whether the brake pedal depth is greater than a preset depth threshold, or whether the user requests to exit the driver control mode via PAD, or whether the steering wheel angle is greater than a preset angle threshold. If any one of these conditions is met, proceed to step S24; otherwise, return to step S18.

[0084] S20: When the user selects the automatic control mode, they need to further select the vehicle's U-turn direction and target U-turn angle. The U-turn direction includes left and right turns. The target U-turn angle can be selected from 90° to 360°.

[0085] S21, the user operates the brake pedal and shifts the gear from P to D. After the gear shift, the user releases the brake pedal to activate the automatic control mode.

[0086] S22, in automatic control mode, the PAD displays "U-turn function in operation".

[0087] S23, determine whether the brake pedal depth is greater than a preset depth threshold, or whether the user requests to exit the automatic control mode via PAD, or whether the steering wheel angle is greater than a preset angle threshold. If any one of these conditions is met, proceed to step S24; otherwise, return to step S22.

[0088] S24, the U-turn function in the target U-turn mode is deactivated, the vehicle stops rotating, and the vehicle automatically switches to P gear.

[0089] The S25 PAD displays the message "The U-turn function has been disabled".

[0090] S26, End.

[0091] In summary, this invention provides the option to choose between two on-the-spot U-turn modes: a driver-controlled mode and an automatic control mode. When making a U-turn, the driver can select different target on-the-spot U-turn modes and control the vehicle to perform the U-turn based on the turning direction information and the ground scene information, thus achieving flexible on-the-spot U-turn operations. Furthermore, the invention provides multiple safety mechanisms to ensure that the target on-the-spot U-turn mode can be exited when needed, including brake pedal operation, user request commands, and steering wheel operation, thereby improving vehicle safety and handling.

[0092] Based on the on-the-spot U-turn control method described in the above embodiments, the following references... Figure 8 This invention describes an embodiment of a device for controlling a U-turn in place.

[0093] Figure 8 This is a block diagram of a U-turn control device according to an embodiment of the present invention, such as... Figure 8 As shown, the in-situ turn control device 1 includes at least one processor 10 and a memory 20.

[0094] The memory 20 is communicatively connected to at least one processor 10 and is used to store computer programs and related data. The memory 20 may include random access memory (RAM), read-only memory (ROM), flash memory, etc.

[0095] When the processor 10 executes instructions in a computer program, it can implement the in-place turn control method described in the above embodiments. The processor 10 may be a central processing unit (CPU) or other computing device.

[0096] According to the U-turn control device 1 of the present invention, the processor 10 executes the U-turn control method described in the above embodiment, obtains the rotation direction information of the U-turn, and controls the vehicle to make a U-turn until the stopping condition of the U-turn is met. This means that the driver can control the U-turn operation of the vehicle more intuitively without relying on a specific steering wheel angle, making the driver more flexible in controlling the U-turn operation, reducing the difficulty of the U-turn operation, improving the driver's operational flexibility and safety, and setting the stopping condition can ensure that the U-turn ends at an appropriate time to avoid excessive or continuous U-turns, thereby reducing potential safety risks.

[0097] In some embodiments of the present invention, a vehicle is also proposed for implementing the on-the-spot U-turn control method described in the above embodiments.

[0098] In some embodiments, the vehicle may include a steering system, a drive system, and a braking system. The steering system can be used to control the steering of the front wheels based on the turning direction information input by the driver via a display device for a U-turn. The drive system can be used to control the front and rear wheels based on the turning direction information, the ground conditions for the U-turn, and the driving torque. This system ensures that the vehicle maintains balance and stability during a U-turn. The braking system ensures that the U-turn can be quickly stopped by using the brake pedal or other means when necessary.

[0099] According to the vehicle of the present invention, by adopting the on-the-spot U-turn control method described in the above embodiments, the driver can more flexibly control the on-the-spot U-turn operation, reduce the difficulty of the on-the-spot U-turn operation, improve the safety and operability of the on-the-spot U-turn operation, and reduce potential safety risks.

[0100] In some embodiments of the present invention, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed, implements the in-situ turn control method of any of the above embodiments.

[0101] According to the computer-readable storage medium proposed in the embodiments of the present invention, a computer program is stored thereon. When the computer program is executed by the processor 10, it can implement the U-turn control method of the above embodiments. By acquiring the rotation direction information of the U-turn, the vehicle is controlled to make a U-turn until the stopping conditions of the U-turn are met. This means that the driver can control the U-turn operation of the vehicle more intuitively without relying on a specific steering wheel angle, making the driver more flexible in controlling the U-turn operation of the vehicle, reducing the difficulty of the U-turn operation, improving the driver's operational flexibility and safety, and reducing potential safety risks.

[0102] The computer-readable storage medium in the embodiments of the present invention may include, but is not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical and magnetic storage media, which will not be described in detail here.

[0103] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0104] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for controlling a U-turn in place, characterized in that, include: The in-situ U-turn function is triggered when the user inputs the turning direction information, which includes at least the turning direction and / or the target turning angle. The user is prompted to operate the brake pedal; When the brake pedal is deeper than the depth threshold and the vehicle gear is switched to D, the user is prompted to release the brake pedal to trigger the vehicle to make a U-turn. After the brake pedal is released, the vehicle turns around in the same spot in the direction of the turn until the stopping conditions for turning around in the same spot are met. During a U-turn, keep the steering wheel in the straight position.

2. The U-turn control method according to claim 1, characterized by, The in-situ U-turn function is triggered by at least one of the following operations: Manual input; Voice commands; The vehicle automatically detected a situation where a U-turn was required.

3. The U-turn control method of claim 1, wherein The method for controlling a U-turn in place also includes prompting the user to switch the gear to D.

4. The U-turn control method of claim 1, wherein The method further includes: selecting an application scenario, which includes ice, snow, and mud.

5. The U-turn control method of claim 1, wherein The turning direction includes left turn and right turn, and the target turning angle is selected from 90° to 360°.

6. The U-turn control method of claim 1, wherein The method for controlling U-turns in place also includes: When the vehicle turns around, it rotates at a preset yaw rate.

7. The method for controlling a U-turn in place according to claim 1, characterized in that, The method for controlling U-turns in place also includes: When the vehicle is turning around, in response to the accelerator pedal information, the rotation speed is adjusted and / or the yaw rate of the vehicle is controlled to follow the change in accelerator pedal opening.

8. The method for controlling a U-turn in place according to claim 7, characterized in that, The method for controlling U-turns in place also includes: After the accelerator pedal is released, the vehicle continues to rotate at a preset yaw rate.

9. The method for controlling a U-turn in place according to claim 1, characterized in that, The method for controlling a U-turn in place also includes: The vehicle stops after turning to the set U-turn target angle, and the vehicle automatically switches from D gear to P gear.

10. The method for controlling a U-turn in place according to claim 1, characterized in that, The method for controlling U-turns in place also includes: Get the on-the-spot U-turn mode settings information; The target U-turn mode is determined based on the U-turn setting information, wherein the target U-turn mode includes the driver control mode or the automatic control mode.

11. A device for controlling a U-turn in place, characterized in that, include: At least one processor; A memory that is communicatively connected to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, and when the at least one processor executes the computer program, it implements the in-situ U-turn control method according to any one of claims 1-10.

12. A vehicle, characterized in that, Used to implement the on-the-spot U-turn control method according to any one of claims 1-10.

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