Vehicle and control method, apparatus and system therefor, and storage medium and control device

Abstract

A vehicle and a control method, apparatus and system therefor, and a storage medium and a control device. The method comprises: identifying the scene where a vehicle is located; and on the basis of the scene where the vehicle is located, controlling the vehicle to make a U-turn in situ. In the method, the scene where the vehicle is located is identified, and on the basis of the scene where the vehicle is located, the vehicle is controlled to make a U-turn in situ.

Description

Vehicle, control method, device, system, storage medium and control equipment thereof

[0001] The present application claims priority to the Chinese patent application No. 202410669079.0, filed on May 27, 2024, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of vehicles, and in particular to a vehicle, a control method, device, system, storage medium and control equipment thereof. BACKGROUND

[0003] With the progress of industrial technology and the improvement of people's living standards, as a means of transportation, automobiles play an increasingly important role in people's daily life, and consumers' demand for automobiles is also growing. SUMMARY

[0004] The present disclosure aims to at least partially solve one of the technical problems in the related art. To this end, the purpose of the present disclosure is to propose a vehicle, a control method, device, system, storage medium and control equipment thereof, to realize the targeted U-turn control of the vehicle based on the scene, and to improve the reliability, safety and convenience of the U-turn of the vehicle.

[0005] To achieve the above-mentioned purpose, the first aspect of the present disclosure provides a control method of a vehicle, comprising: identifying a scene in which the vehicle is located; and controlling the vehicle to perform a U-turn according to the scene in which the vehicle is located.

[0006] In addition, the control method of the vehicle of some embodiments of the present disclosure can have the following additional technical features:

[0007] According to one embodiment of the present disclosure, the identifying the scene in which the vehicle is located comprises: determining a target identification mode, wherein the target identification mode is one of automatic identification, semi-automatic identification and manual identification; and identifying the scene in which the vehicle is located according to the target identification mode.

[0008] According to one embodiment of the present disclosure, when the target identification mode is the automatic identification, the identifying the scene in which the vehicle is located according to the target identification mode comprises: identifying a road surface type of a road surface on which the vehicle is located and an obstacle situation around the vehicle; and obtaining the scene in which the vehicle is located according to the road surface type and the obstacle situation around the vehicle.

[0009] According to one of the embodiments of the present disclosure, when the target recognition mode is the semi-automatic recognition, the identifying the scene where the vehicle is located according to the target recognition mode comprises: identifying a road surface optional type of a road surface where the vehicle is located and an optional situation of surrounding obstacles; obtaining at least one optional scene according to the road surface optional type and the optional situation of surrounding obstacles; and determining the scene where the vehicle is located from the at least one optional scene according to a user scene determination instruction.

[0010] According to one of the embodiments of the present disclosure, when the target recognition mode is the manual recognition, the identifying the scene where the vehicle is located according to the target recognition mode comprises: obtaining the scene where the vehicle is located according to a user scene selection instruction.

[0011] According to one of the embodiments of the present disclosure, the controlling the vehicle to make a U-turn according to the scene where the vehicle is located comprises: determining a target control mode according to the scene where the vehicle is located, wherein the target control mode is one of automatic control, semi-automatic control and manual control; and controlling the vehicle to make a U-turn according to the target control mode.

[0012] According to one of the embodiments of the present disclosure, when the target control mode is the automatic control, the scene where the vehicle is located comprises a road surface type of a road surface where the vehicle is located and an obstacle situation around the vehicle, and the determining the target control mode according to the scene where the vehicle is located comprises: performing at least one of determining a whole vehicle target rotating speed according to the road surface type of the road surface where the vehicle is located or determining a target rotating angle according to the obstacle situation around the vehicle; and automatically controlling the vehicle to make a U-turn according to the whole vehicle target rotating speed and the target rotating angle.

[0013] According to one of the embodiments of the present disclosure, the road surface type comprises a road surface slope, and the whole vehicle target rotating speed is determined according to a road surface adhesion coefficient, and the determining the target control mode according to the scene where the vehicle is located further comprises: determining target wheel speeds of wheels of the vehicle according to the road surface slope and the whole vehicle target rotating speed; and automatically controlling the vehicle to make a U-turn according to the target wheel speeds and the target rotating angle.

[0014] According to one of the embodiments of the present disclosure, the road surface type further comprises a road surface adhesion coefficient; the whole vehicle target rotating speed is in a negative correlation with the road surface adhesion coefficient; when the vehicle makes a U-turn at the target wheel speeds, a mass center of the vehicle is offset within a preset offset range; the target rotating angle is a rotating angle along a preset steering direction, and the target rotating angle is smaller than a rotating angle at which the vehicle collides with a static obstacle when the vehicle makes a U-turn along the preset steering direction.

[0015] According to one embodiment of the present disclosure, when the target control mode is the semi-automatic control, the current scene includes a road surface type of a road surface on which the vehicle is located and an obstacle condition around the vehicle, and the determining the target control mode according to the current scene includes: performing at least one of determining a whole vehicle recommended rotation speed according to the road surface type of the road surface on which the vehicle is located, or determining a recommended rotation angle according to the obstacle condition around the vehicle; and controlling the vehicle to make the U-turn according to at least one of the adjusted whole vehicle recommended rotation speed or the adjusted recommended rotation angle according to the user parameter adjustment instruction.

[0016] According to one embodiment of the present disclosure, when the target control mode is the manual control, the determining the target control mode according to the current scene includes: controlling the vehicle to make the U-turn according to the control parameter obtained according to the current scene and the user parameter selection instruction.

[0017] According to one embodiment of the present disclosure, the current scene is an urban scene, and the control parameter obtained according to the current scene and the user parameter selection instruction includes a preset rotation speed, a selected steering, and a selected rotation angle.

[0018] According to one embodiment of the present disclosure, the current scene is a wild scene, and the control parameter obtained according to the current scene and the user parameter selection instruction includes a target rotation speed and a selected steering, wherein the target rotation speed is determined according to a depth of an accelerator pedal of the vehicle.

[0019] According to one embodiment of the present disclosure, after receiving the user parameter selection instruction, the method further includes: determining that a first user parameter confirmation instruction is received to determine that the selected control parameter is valid.

[0020] According to one embodiment of the present disclosure, before controlling the vehicle to make the U-turn, the method further includes: determining that a second user parameter confirmation instruction is received.

[0021] According to one embodiment of the present disclosure, the user instruction is generated according to at least one of an action of a contact type operating member or a non-contact type operating member, wherein the user instruction includes at least one of a user scene confirmation instruction, a user scene selection instruction, a user parameter adjustment instruction, a user parameter selection instruction, a first user parameter confirmation instruction, or a second user parameter confirmation instruction, and the contact type operating member is arranged on a steering wheel, a secondary instrument, a center console, or a vehicle-mounted PAD of the vehicle.

[0022] According to one embodiment of the present disclosure, the action of the contact operation piece includes at least one of a pressing of the contact operation piece or a rotation of the contact operation piece, and the action of the non-contact operation piece includes at least one of a recognized gesture type, a hovering key action, a facial action, an electroencephalogram type, or a voice control instruction.

[0023] According to one embodiment of the present disclosure, the pressing of the contact operation piece includes a number of presses and a duration of the presses, and the rotation of the contact operation piece includes a direction of the rotation and an angle of the rotation.

[0024] According to one embodiment of the present disclosure, the method further includes at least one of: controlling at least one of an instrument panel or a head-up display of the vehicle to display a U-turn function interface corresponding to the target control mode, or controlling the contact operation piece to display identification information corresponding to the target control mode.

[0025] According to one embodiment of the present disclosure, the method further includes at least one of: displaying, in the U-turn function interface, a control parameter for the U-turn of the vehicle, or controlling the contact operation piece to display identification information corresponding to the control parameter.

[0026] To achieve the above object, a second aspect of the present disclosure provides a control device of a vehicle, comprising: a recognition module configured to recognize a scenario in which the vehicle is located; and a control module configured to control the vehicle to perform a U-turn according to the scenario.

[0027] To achieve the above object, a third aspect of the present disclosure provides a computer readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the control method of the vehicle according to the first aspect.

[0028] To achieve the above object, a fourth aspect of the present disclosure provides a controller, comprising a memory, a processor, and a computer program stored in the memory, wherein the computer program, when executed by the processor, implements the control method of the vehicle according to the first aspect.

[0029] To achieve the above object, a fifth aspect of the present disclosure provides a control system of a vehicle, comprising: an operation piece configured to input a user instruction when in action to control the vehicle to perform a U-turn, wherein the operation piece includes at least one of a contact operation piece or a non-contact operation piece, and the contact operation piece is arranged in a preset area in the vehicle including a steering wheel, and a distance between the preset area and the steering wheel is less than a distance between a vehicle-mounted PAD and the steering wheel.

[0030] In addition, the control system of the vehicle of the embodiments of the present disclosure can further have the following additional technical features.

[0031] According to an embodiment of the present disclosure, the system further includes a controller configured to obtain a target control parameter according to the user instruction, and control the vehicle to perform the U-turn according to the target control parameter.

[0032] According to an embodiment of the present disclosure, the contact-type operation member is arranged on a steering wheel, a secondary instrument cluster or a center console of the vehicle.

[0033] According to an embodiment of the present disclosure, the action of the contact-type operation member includes at least one of a pressing or a rotating of the contact-type operation member, and the action of the non-contact-type operation member includes at least one of a recognized gesture type, a gestureless key action, a facial action, an electroencephalogram type or a voice control instruction.

[0034] According to an embodiment of the present disclosure, the pressing of the contact-type operation member includes a number of pressings and a duration of the pressings, and the rotating of the contact-type operation member includes a direction and an angle of the rotating.

[0035] According to an embodiment of the present disclosure, the system further includes at least one of an instrument cluster or a head-up display; and the controller is further configured to control the at least one of the instrument cluster or the head-up display to display a U-turn function interface, and perform at least one of the following: display the target control parameter on the U-turn function interface, or control the contact-type operation member to display identification information corresponding to the target control parameter.

[0036] To achieve the above object, the sixth aspect of the present disclosure provides a vehicle, including the control system of the vehicle according to the fifth aspect of the present disclosure.

[0037] The control method, device, system and storage medium, controller and vehicle of the vehicle of the embodiments of the present disclosure can control the vehicle to perform the U-turn according to the scene in which the vehicle is located, realize the targeted U-turn control of the vehicle based on the scene, and improve the reliability, safety and convenience of the U-turn of the vehicle.

[0038] Additional aspects and advantages of the present disclosure will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0039] FIG. 1 is a flowchart of a control method of a vehicle according to some embodiments;

[0040] FIG. 2A is a front view of a steering wheel integrated with a roller key according to some embodiments;

[0041] FIG. 2B is a perspective view of a steering wheel integrated scroll wheel key, according to some embodiments;

[0042] FIG. 3A is a schematic view of a U-turn function interface, according to some embodiments;

[0043] FIG. 3B is a schematic view of another U-turn function interface, according to some embodiments;

[0044] FIG. 4A is a schematic view of a wake-up illumination interface of a scroll wheel key, according to some embodiments;

[0045] FIG. 4B is a schematic view of a scene selection interface of a scroll wheel key, according to some embodiments;

[0046] FIG. 5A is a schematic view of a counterclockwise rotation direction and angle selection interface of a scroll wheel key, according to some embodiments;

[0047] FIG. 5B is a schematic view of a counterclockwise rotation direction and angle selection interface of a scroll wheel key, according to some embodiments;

[0048] FIG. 6 is a flowchart of a U-turn function interaction operation, according to some embodiments;

[0049] FIG. 7 is a block diagram of a U-turn control device, according to some embodiments;

[0050] FIG. 8 is a block diagram of a control device, according to some embodiments;

[0051] FIG. 9 is a block diagram of a control system of a vehicle, according to some embodiments;

[0052] FIG. 10 is a block diagram of another control system of a vehicle, according to some embodiments;

[0053] FIG. 11 is a block diagram of yet another control system of a vehicle, according to some embodiments;

[0054] FIG. 12 is a block diagram of a vehicle, according to some embodiments. DETAILED DESCRIPTION

[0055] Embodiments of the present disclosure are described in detail below with reference to the attached drawing figures, wherein the same or like reference numerals and letters in the drawing and the following description denote the same or like elements or components. The embodiments described below are illustrative, and are not intended to be limiting.

[0056] In related technologies, the use of a vehicle's U-turn function, including entering and exiting the U-turn function and inputting control parameters, requires the driver to operate on the in-vehicle software's Portable Application Description (PAD). The entire process requires shifting the user's gaze and hands to the in-vehicle PAD and performing multiple manual operations. This method is simplistic, highly complex, and poses safety hazards.

[0057] The following description, with reference to the accompanying drawings, describes a vehicle and its control method, apparatus, system, storage medium, and control device according to embodiments of the present disclosure.

[0058] Figure 1 is a flowchart of a vehicle control method according to some embodiments.

[0059] As shown in Figure 1, the vehicle control methods include:

[0060] S11 identifies the scene in which the vehicle is located.

[0061] In some embodiments, the vehicle's U-turn function can be activated by the action of an operating element (such as a contact operating element or a non-contact operating element, which allows user commands to be input during the action). After the vehicle's U-turn function is activated, the vehicle's location can be identified by onboard sensors (such as cameras, radar, etc.) or by the action of the operating element.

[0062] Here, the contact-type control is set in a preset area inside the vehicle, including the steering wheel. The distance between the preset area and the steering wheel is less than or equal to the distance between the in-vehicle PAD and the steering wheel. For example, the contact-type control can be set on the vehicle's steering wheel, instrument panel, center console, or in-vehicle PAD. The action of the contact-type control can include at least one of pressing (e.g., number of presses, duration) or rotating (e.g., direction, angle of rotation). For example, if the contact-type control is a scroll wheel button integrated on the steering wheel, pressing and holding the scroll wheel button (e.g., 2 seconds) can activate the U-turn function. To improve interactivity, the U-turn function interface can be displayed on the vehicle's instrument panel or in-vehicle PAD at this time, and the scroll wheel button interface can also be activated. The action of the non-contact control can include at least one of the following: recognized gesture type, air button action, facial action, brainwave type, or voice control command. For example, if the non-contact control is an image recognition module. For example, the vehicle's U-turn function can be activated by long-pressing the contact control; or, for another example, the vehicle's U-turn function can be activated by triggering the non-contact control via voice command.

[0063] In some embodiments of this disclosure, identifying the scene in which the vehicle is located includes: determining a target identification method, wherein the target identification method is one of automatic identification, semi-automatic identification, and manual identification; and identifying the scene in which the vehicle is located based on the target identification method.

[0064] For example, after activating the vehicle's U-turn function, a user command can be input via the operation of the control panel to determine the target recognition method, thereby identifying the vehicle's current scenario based on the target recognition method. Here, different target recognition methods correspond to different user commands. The user command corresponding to automatic recognition can be defined as the first user scenario recognition command, such as the voice control command "Activate automatic scenario recognition," or inputting the first user scenario recognition command through the "Automatic Recognition" control displayed on the U-turn function interface; the user command corresponding to semi-automatic recognition is the second user scenario recognition command, such as the voice control command "Activate automatic scenario recognition," or inputting the second user scenario recognition command through the "Semi-automatic Recognition" control displayed on the U-turn function interface; and the user command corresponding to manual recognition is the third user scenario recognition command, such as the voice control command "Activate manual scenario recognition," or inputting the third user scenario recognition command through the "Manual Recognition" control displayed on the U-turn function interface.

[0065] It should be noted that for the three recognition methods—automatic, semi-automatic, and manual—vehicles can pre-set default priorities. For example, automatic recognition can be set as the highest priority, meaning that when the U-turn function is activated, the vehicle's location can be automatically identified by default. During this process, if user intervention is detected, the system can determine whether to switch to semi-automatic or manual recognition based on the user's input command. In other words, the step of determining the target recognition method is not required when identifying the vehicle's location.

[0066] In some embodiments, when the target recognition method is automatic recognition, the scene in which the vehicle is located is identified according to the target recognition method, including: identifying the road surface type and surrounding obstacles of the road surface in which the vehicle is located; and obtaining the scene in which the vehicle is located based on the road surface type and surrounding obstacles.

[0067] For example, onboard sensors can collect road surface images, wheel-end vertical acceleration signals, and tire noise signals of the vehicle's surroundings. A first time-frequency transformation map is obtained based on the wheel-end vertical acceleration signal, and a second time-frequency transformation map is obtained based on the tire noise signal. The road surface image, the first time-frequency transformation map, and the second time-frequency transformation map can then be stitched together to form a new feature image. Road surface type recognition is then performed based on this new feature image to obtain the identified road surface type. Simultaneously, the road surface image can also be used to identify obstacles around the vehicle, such as the location information of surrounding static obstacles (e.g., at the 5 o'clock position relative to the vehicle's direction of travel). Finally, the road surface type and the surrounding obstacle situation can be used as the context of the current scene.

[0068] In some embodiments, the road surface type can be characterized by the road surface adhesion coefficient (which can be obtained by looking up a table based on the identified road surface material or calculated based on a dynamic model), such as an adhesion coefficient of 35; it can also be characterized by the road surface adhesion coefficient and the road surface slope (which can be measured by on-board sensors, such as an IMU (Inertial Measurement Unit), such as an adhesion coefficient of 35 and a road surface slope of 25°.

[0069] In some embodiments, the road surface type can be characterized by the road surface material, such as paved road, asphalt road, cement concrete road, gravel road, sand road, mud road, pebble road, ice road, snow road, wetland road, etc.

[0070] In other embodiments, the road surface type can be characterized by the regional road surface determined by the road surface material. For example, when the road surface material is paved road, asphalt road, cement concrete road, gravel road, etc., the road surface type is considered to be urban road; when the road surface material is identified as sandy road, muddy road, cobblestone road, ice surface, snow road, wetland road, etc., the road surface type is considered to be field road.

[0071] In some embodiments, when the target recognition method is semi-automatic recognition, the vehicle's location scene is identified according to the target recognition method, including: identifying the road surface options and surrounding obstacle options on the road surface where the vehicle is located; obtaining at least one optional scene based on the road surface options and surrounding obstacle options; and determining the current scene from the at least one optional scene according to the user's scene determination instruction.

[0072] In this embodiment, the available road surface types and surrounding obstacle options are similar to the identification strategies for road surface types and surrounding obstacle options in the aforementioned automatic identification. The difference is that the automatic identification obtains a definite road surface type and surrounding obstacle option, while the semi-automatic identification obtains one or more road surface types and surrounding obstacle options with a higher probability of recognition, as optional scenarios. The user can input a user scenario determination command to determine one of the at least one optional scenario as the current scenario. For example, the optional scenarios are: an adhesion coefficient of any value in [30, 35], a road surface slope of any value in [20°, 25°], and obstacles around the vehicle in the nine o'clock and five o'clock directions. The driver can confirm from this that the current scenario is an adhesion coefficient of 35, a road surface slope of 25, and obstacles in the five o'clock direction. Another example is: optional scenarios are asphalt road surface, cement concrete road surface, or gravel road surface. The driver can confirm that the current scenario is a cement concrete road surface. Here, the user scenario determination command is one type of user command, which can be input through the aforementioned operating device, such as through voice input, vehicle PAD input, etc.

[0073] In some embodiments, when the target recognition method is manual recognition, the vehicle's location scene is identified according to the target recognition method, including: obtaining the vehicle's location scene according to the user's scene selection instruction.

[0074] Here, the user scene selection command is one type of user command, which can be input through the aforementioned control device. Taking the contact control device as an example, the contact control device is a scroll wheel button located on the steering wheel. After activating the U-turn function by pressing and holding the scroll wheel button and confirming that the target recognition method is manual recognition, the user can select the scene by rotating the scroll wheel button, or by pressing the scroll wheel button in different positions. For example, a short press on the left side of the scroll wheel button selects the city scene, and a short press on the right side of the scroll wheel button selects the wilderness scene.

[0075] S12 controls the vehicle to make a U-turn on the spot based on the current scene.

[0076] In some embodiments of this disclosure, controlling a vehicle to make a U-turn in place according to the scene includes: determining a target control method based on the scene, where the target control method is one of automatic control, semi-automatic control, and manual control; and controlling the vehicle to make a U-turn in place according to the target control method.

[0077] In some embodiments, the target control method can be set to correspond to the target recognition method described above, i.e., automatic recognition corresponds to automatic control, semi-automatic recognition corresponds to semi-automatic control, and manual recognition corresponds to manual control. Automatic control can involve determining control parameters based on the current scene and then automatically controlling the vehicle to make a U-turn based on those parameters. Semi-automatic control can involve determining control parameters based on the current scene and then manually adjusting those parameters as needed, controlling the vehicle to make a U-turn based on the adjusted parameters. Manual control can involve manually setting the control parameters for the current scene and then controlling the vehicle to make a U-turn based on those manually set parameters. Comparing the three, automatic control requires the least manual operation, is the most convenient and quick, and has the lowest safety risks, followed by semi-automatic control. Manual control best meets the user's needs for vehicle control, followed by semi-automatic control.

[0078] In some embodiments, when the target control mode is automatic control, the scenario includes the road surface type where the vehicle is located and the obstacle conditions around the vehicle. Determining the target control mode based on the scenario includes: performing at least one of determining a target vehicle speed based on the road surface type where the vehicle is located, or determining a target turning angle based on the obstacle conditions around the vehicle; and automatically controlling the vehicle to perform at least one of turning around in place according to the target vehicle speed and / or the target turning angle. Here, the target turning angle includes the target rotation direction and the target rotation angle.

[0079] In some embodiments, only the target vehicle speed needs to be determined based on the scenario, including: determining the target vehicle speed based on the road surface type on which the vehicle is located. In this case, the target turning angle can be preset, and the target control method can be: automatically controlling the vehicle to make a U-turn in place according to the determined target vehicle speed and the preset target turning angle.

[0080] In other embodiments, only the target turning angle needs to be determined based on the scenario, including determining the target turning angle based on the obstacles around the vehicle. In this case, the target rotation speed of the vehicle can be preset, and the target control method can be: automatically controlling the vehicle to make a U-turn in place according to the determined target turning angle and the preset target rotation speed of the vehicle.

[0081] In some other embodiments, the target vehicle speed and target turning angle can be determined simultaneously based on the scenario, including: determining the target vehicle speed based on the road surface type where the vehicle is located, and determining the target turning angle based on the obstacles around the vehicle. In this case, the target control method is: automatically controlling the vehicle to make a U-turn in place according to the determined target vehicle speed and the determined target turning angle.

[0082] In some other embodiments, only the target vehicle speed needs to be determined based on the scenario, including determining the target vehicle speed based on the road surface type where the vehicle is located. In this case, the target control method can be: automatically controlling the vehicle to make a U-turn in place according to the determined target vehicle speed.

[0083] In some other embodiments, only the target turning angle needs to be determined based on the scenario, including determining the target turning angle based on the road surface type where the vehicle is located. In this case, the target control method can be: automatically controlling the vehicle to make a U-turn in place according to the determined target turning angle.

[0084] For the above-mentioned implementation method of determining the target speed of the whole vehicle, the road surface type includes the road surface adhesion coefficient and the road surface slope. The target speed of the whole vehicle is determined based on the road surface adhesion coefficient. The target control method is determined according to the scenario, which also includes: determining the target wheel speed of each wheel of the vehicle based on the road surface slope and the target speed of the whole vehicle; and automatically controlling the vehicle to turn around in place according to the target wheel speed and the target turning angle.

[0085] Here, the target rotational speed of the vehicle is negatively correlated with the road surface adhesion coefficient. When the vehicle makes a U-turn at the target wheel speed, the vehicle's center of gravity shifts within the preset offset range. The target turning angle is the turning angle along the preset steering direction (which can be the target rotation direction mentioned above) (the size of which can be the target rotation angle mentioned above), and the target turning angle is smaller than the turning angle of the vehicle colliding with a static obstacle while rotating in place along the preset steering direction.

[0086] For example, taking road surface type (including road surface adhesion coefficient and road surface slope) and obstacle information (including the location information of static obstacles) as examples, the target rotational speed of the vehicle (i.e., the target rotational speed of the vehicle when making a U-turn) can be determined based on the road surface adhesion coefficient. If the road surface adhesion coefficient is high, the target rotational speed of the vehicle can be appropriately reduced to reduce tire friction; if the road surface adhesion coefficient is low, the target rotational speed of the vehicle can be appropriately increased to improve the efficiency of the vehicle's U-turn (i.e., shorten the U-turn time). If the road surface slope is less than a preset value, the wheel speeds of the vehicle used for the U-turn are relatively uniform; if the road surface slope is greater than a certain value, the wheel speeds of different wheels can be adjusted to ensure the vehicle's grip on the slope and reduce the vehicle's center of gravity shift during rotation. Furthermore, when automatically controlling the vehicle to make a U-turn, the system can default to controlling the vehicle to turn in a preset direction, such as clockwise, with a maximum U-turn angle of 180°. During the clockwise U-turn, if a static obstacle is encountered before reaching 180°, the target turning angle can be the angle at which the static obstacle is about to be encountered, meaning the U-turn will stop before encountering the static obstacle. If no static obstacle is encountered before reaching 180°, the system can control the vehicle to make a 180° U-turn.

[0087] Here, clockwise direction refers to the direction of vehicle movement as the positive direction.

[0088] In some embodiments, under automatic control, the above-mentioned automatic control can be performed regardless of the identified scene. In other embodiments, the above-mentioned automatic control can be performed when the road surface type is identified as an off-road road; however, compared to off-road, urban road conditions are more complex. To improve the safety of U-turns, after identifying the road surface type as an urban road and obtaining the control parameters, a query can be made to allow the user to confirm whether to perform a U-turn according to the control parameters. If the user replies "yes," then the U-turn is performed according to the control parameters; otherwise, the U-turn is performed according to the control parameters adjusted by the customer. To reflect the advantages of automatic control (such as ease of control), some control parameters can be adjusted, such as allowing users to adjust at least one of the target turning angle or direction, but not allowing users to adjust the target vehicle speed and target wheel speed.

[0089] In some embodiments, before controlling the vehicle to make a U-turn, the method further includes: determining that a second user parameter confirmation instruction has been received.

[0090] For example, the second user parameter confirmation command is one type of user command and can be input through the aforementioned operating device. After obtaining the control parameters, a query message can also be sent to ask the user whether they can begin the on-the-spot U-turn control. If so, the user can input the second user parameter confirmation command, and after confirming receipt of the second user parameter confirmation command, the vehicle will be controlled to perform the on-the-spot U-turn. This allows the user to be aware that a on-the-spot U-turn is about to begin, thus improving the user's interactive experience.

[0091] In some embodiments, when the target control mode is semi-automatic control, the scenario includes the road surface type where the vehicle is located and the obstacle conditions around the vehicle. Determining the target control mode based on the scenario includes: executing at least one of determining a recommended vehicle speed based on the road surface type where the vehicle is located, or determining a recommended turning angle based on the obstacle conditions around the vehicle; controlling the vehicle to perform a U-turn at at least one of the recommended vehicle speed or the adjusted recommended turning angle as instructed by the user parameters. Here, the recommended turning angle includes a recommended rotation direction and a recommended rotation angle.

[0092] In some embodiments, the user parameter adjustment command is one type of user command, which can be input through the aforementioned operating device. The method for obtaining the recommended vehicle speed and recommended steering angle is the same as the method for obtaining the target vehicle speed and target steering angle described above. After obtaining the recommended vehicle speed and recommended steering angle, these parameters can be presented to the user, such as through display on the in-vehicle PAD or voice announcement, so that the customer can determine whether to adjust the parameter as needed. If adjustment is desired, the parameter to be adjusted is determined, and the corresponding user parameter adjustment command can be input through the operating device, such as inputting the user parameter adjustment command through the corresponding control displayed on the in-vehicle PAD, or inputting the user parameter adjustment command via voice.

[0093] Accordingly, in some embodiments, the recommended wheel speed of each wheel of the vehicle can be determined based on the road slope and the recommended rotational speed of the vehicle, and the recommended wheel speed can also be adjusted according to user parameter adjustment commands. Furthermore, it can be confirmed that a second user parameter confirmation command has been received before the vehicle is controlled to perform a U-turn.

[0094] In some embodiments, when the target control mode is manual control, the target control mode is determined according to the scenario, including: controlling the vehicle to make a U-turn in place according to the control parameters obtained by selecting instructions based on the scenario and user parameters.

[0095] When the target recognition method is automatic recognition, the scene is the scene obtained by automatic recognition; when the target recognition method is semi-automatic recognition, the scene is the scene finally determined by the user from the available scenes; when the target recognition method is manual recognition, the scene is the scene determined by the user based on their own judgment.

[0096] In some embodiments, the scene is an urban scene, and the control parameters obtained by selecting instructions based on the scene and user parameters include: preset speed, selected steering direction and selected steering angle.

[0097] In some embodiments, the scenario is an outdoor scenario, and the control parameters obtained by selecting the command based on the scenario and user parameters include: target speed and selected steering. Here, the target speed is determined based on the depth of the vehicle's accelerator pedal.

[0098] It should be noted that the above-mentioned scenarios are not limited to the division between urban and outdoor scenarios. There can be other ways of dividing them. For example, they can be determined based on the main parameters that affect U-turns, such as ground adhesion, ground type, weather conditions, slope, whether the obstacle is stationary or moving, obstacle size, obstacle height relative to the chassis or front of the vehicle, and obstacle hardness.

[0099] In this embodiment, after receiving the user parameter selection instruction, it can also be determined that a first user parameter confirmation instruction has been received to confirm that the selected control parameters are valid. Furthermore, before controlling the vehicle to perform a U-turn, it can also be determined that a second user parameter confirmation instruction has been received.

[0100] In some embodiments of this disclosure, the vehicle control method further includes at least one of the following: controlling at least one of the vehicle's instrument panel or head-up display to display a U-turn function interface corresponding to the target control mode; or controlling a contact-type operating component to display identification information corresponding to the target control mode. This allows the user to be aware of the current U-turn status, improving the interactive experience.

[0101] In some embodiments of this disclosure, the method further includes at least one of the following: displaying control parameters for the vehicle to make a U-turn on the U-turn function interface, or controlling the contact-type operating device to display identification information corresponding to the control parameters.

[0102] The following explanation focuses on manual identification and manual control, using a contact-type actuator as an example:

[0103] In some embodiments, as shown in Figures 2A and 2B, the number of contact-type operating elements is one, and the contact-type operating element can be a scroll wheel button integrated on the steering wheel. The function of the steering wheel scroll wheel button is defined as shown in Table 1 below:

[0104] Table 1

[0105] Here, counterclockwise rotation refers to the direction of rotation counterclockwise with the vehicle's direction of travel as the positive direction.

[0106] Here, the scroll wheel button can be a two-way rotating and pressable button, that is, a button that can rotate infinitely left and right and can be pressed to confirm. The placement of the scroll wheel button on the steering wheel can be determined according to the structure of the steering wheel, see Figures 2A and 2B. Taking a three-spoke steering wheel as an example, the scroll wheel button can be placed on the right-hand spoke of the steering wheel. Of course, it can also be placed in other positions on the steering wheel, such as on the left-hand spoke, the lower spoke, etc., without limitation. In addition to being placed on the steering wheel, the scroll wheel button can also be placed in a position that is easily accessible to the driver, such as on the instrument panel or the center console. When it is necessary to make a U-turn, the corresponding actions shown in Table 1 can be performed on the scroll wheel button to control the U-turn.

[0107] In other embodiments, the contact-type operating element takes the form of two or more buttons. Taking two buttons as an example, the two buttons are respectively arranged on the left and right spokes of the steering wheel and are referred to as the first button and the second button. The functions of these two buttons are defined as shown in Table 2 below:

[0108] Table 2

[0109] It should be noted that the above definitions of the form and function of the operating components are exemplary, and other forms and functional definitions are also possible, which are not limited here. Furthermore, all of the above buttons can be stepless adjustment buttons.

[0110] When manually controlling a U-turn using contact controls, placing these controls on the steering wheel allows the driver to operate them with minimal deviation from their forward field of vision. This facilitates quick and easy U-turns, reduces safety hazards, lowers operational complexity, and improves human-machine interaction efficiency. Furthermore, it allows the driver to perform U-turns without taking their hands off the steering wheel, further enhancing driving safety.

[0111] Taking a scroll wheel button on the steering wheel as an example of a contact-type control, if the scroll wheel button is pressed for the first action, such as a long press, the user input confirms the activation of the U-turn function. If the U-turn function is activated and the target recognition method is set to manual, and the scroll wheel button is then rotated counterclockwise (the rotation angle can be greater than a preset angle, such as greater than 10°), the user input confirms the selection of the urban scene. If the U-turn function is activated and the target recognition method is set to manual, and the scroll wheel button is then rotated clockwise (the rotation angle can be greater than a preset angle, such as greater than 10°), the user input confirms the selection of the outdoor scene. If the scroll wheel button is then pressed for the fourth action after the second action, such as a short press, the user input confirms the selection of the urban scene. If the scroll wheel button is then pressed for the fourth action after the third action, such as a short press, the user input confirms the selection of the outdoor scene.

[0112] After selecting a city scene, if the scroll wheel is used as a fifth action, such as rotating it counter-clockwise, the user will confirm the selection of the first steering direction (e.g., left turn) and the first turning angle. Similarly, if the scroll wheel is used as a sixth action, such as rotating it clockwise, the user will confirm the selection of the second steering direction (e.g., right turn) and the second turning angle. After selecting a wilderness scene, if the scroll wheel is used as a fifth action, such as rotating it counter-clockwise, the user will confirm the selection of the first steering direction (e.g., left turn). Similarly, if the scroll wheel is used as a sixth action, such as rotating it clockwise, the user will confirm the selection of the second steering direction (e.g., right turn). If, after the fifth or sixth action, the scroll wheel is used as a fourth action, such as a short press, the user will confirm the first user parameter selection.

[0113] It's important to note that, compared to off-road scenarios, in urban scenarios, the fifth or sixth action generates user parameter selection commands for both steering and steering angle, allowing control over the fixed angle selected for a U-turn. In off-road scenarios, only steering parameter selection commands are generated; the steering angle is determined by the duration of the driver's accelerator pedal press. For example, after activating the U-turn function in an off-road scenario, the driver can press the accelerator to initiate the U-turn and release it to end it. Furthermore, the depth of accelerator pedal press controls the speed of the U-turn; deeper press results in faster speed. Therefore, a single scroll wheel button allows for selection of U-turn scenarios, catering to a wider range of U-turn needs.

[0114] After the parameters are determined, if the seventh action is performed on the scroll wheel button, such as double-clicking the scroll wheel button, the second user parameter confirmation command will be entered. At this time, the vehicle can be controlled to make a U-turn in place according to the determined parameters.

[0115] Therefore, a single scroll wheel button can be used to generate various on-the-spot U-turn control commands, thereby enabling on-the-spot U-turn control of the vehicle. The entire process allows the driver to keep their hands on the steering wheel and minimize deviation of their line of sight from the road ahead. The operation is convenient and has low complexity, thus improving driving safety.

[0116] Taking two buttons on the steering wheel as an example of contact-type controls, these two buttons are denoted as the first button and the second button, respectively. In some embodiments, one of the first button and the second button can be the primary button, and the other can be the backup button. The function definitions of both buttons can be the same as the function definition of a scroll wheel button in the above embodiments. When the primary button is detected to be faulty, the backup button can be activated, thereby improving the reliability of the U-turn control. In other embodiments, the first button corresponds to the field scene, and the second button corresponds to the city scene. Pressing and holding the first button allows the user to input the command to activate the U-turn function and the user to select the field scene. Then, selecting the first button generates the user parameter selection command to select the steering direction. After that, double-clicking the first button allows the user to input the second user parameter confirmation command to perform a U-turn according to the selected steering direction. The operation for the city scene is similar to that for the field scene, and will not be described in detail. Compared with the implementation of the primary and backup buttons, the implementation of two buttons corresponding to two scenes is more convenient and more targeted.

[0117] Regarding the aforementioned U-turn control, if the user inputs the U-turn function, the system controls the vehicle's instrument panel to display the U-turn function interface or the wake-up control device to display at least one of the following: if the user inputs a scenario selection command for selecting an outdoor scenario, the system controls the instrument panel to display a first preset interface or the control device to display first preset information to display at least one of the following: if the user inputs a second parameter confirmation command in an outdoor scenario, the system determines the target speed based on the depth of the vehicle's accelerator pedal, and controls the vehicle to perform a U-turn and display the target speed on the first preset interface based on the target speed.

[0118] In some embodiments, if a user scene selection command for selecting an urban scene is input, at least one of the following is executed: the control panel displays a second preset interface or the control device displays second preset information. If a user parameter selection command for selecting a turning angle is input, the selected turning angle is displayed in at least one of the second preset interface or the control device. If a second user parameter confirmation command is input in an urban scene, the vehicle is controlled to make a U-turn in place according to the preset speed and the selected turning angle, and the vehicle's in-place rotation information is displayed on the second preset interface.

[0119] Taking a touch-sensitive control element as a scroll wheel button on the steering wheel as an example, if the user inputs a command to activate the U-turn function, then while controlling the vehicle to activate the U-turn function, at least one of the following actions will be performed: either the instrument panel will display the U-turn function interface (as shown in Figure 3A), or the control element will be activated (e.g., the scroll wheel button will be illuminated, and the "VOT" logo shown in Figure 4A will be displayed; to improve visibility, the color of VOT can be the first color, such as red). For the interface shown in Figure 3A, a manual recognition command can be input, switching the interface from Figure 3A to the interface shown in Figure 3B. Subsequently, if a user selects a scenario for an outdoor scene, the system will simultaneously control the vehicle to select the outdoor scene and display the first preset interface on the instrument panel (e.g., only displaying the area of ​​the outdoor scene in Figure 3B, or increasing the brightness of the area of ​​the outdoor scene in Figure 3B) or control the control unit to display the first preset information (e.g., illuminating the "Outdoor Scene" icon in Figure 4B to increase its prominence; the icon color can be a second color, such as blue). If a second user parameter confirmation command is entered in the outdoor scene, the system will determine the target speed based on the depth of the vehicle's accelerator pedal and control the vehicle to perform a U-turn and display the target speed on the first preset interface (e.g., if the target speed is 10 deg / s, the speed corresponding to the outdoor scene in Figure 3B changes from 0 deg / s to 10 deg / s).

[0120] In some embodiments, if a user scene selection command is input to select a city scene, the vehicle is controlled to select a city scene and perform at least one of the following: control the instrument panel to display a second preset interface (e.g., only displaying the area of ​​the city scene in Figure 3B, or increasing the brightness of the area of ​​the city scene in Figure 3B), or control the operating component to display second preset information (e.g., illuminating the "city scene" icon in Figure 4B; to improve visibility, the icon color can be a third color, such as red); if a user parameter selection command to select a turning angle is input, the selected turning angle is displayed in at least one of the second preset interface or the operating component (e.g., the rotation angle box and pointer corresponding to the city scene in Figure 3B can both be displayed). The selected turning angle can also be displayed on the scroll wheel button shown in Figures 5A and 5B. To improve visibility, as shown in Figure 5A, the counter-clockwise turning angle can be displayed in the second color, and as shown in Figure 5B, the clockwise turning angle can be displayed in the third color. If the second user parameter confirmation command is given in the urban scenario, the vehicle will be controlled to make a U-turn in place according to the preset speed and the selected turning angle, and the vehicle's in-place rotation information will be displayed on the second preset interface (as shown in Figure 3B, the car model in the urban scenario can rotate according to the actual rotation of the vehicle, and the speed corresponding to 0deg / s in the urban scenario in Figure 3B can be changed to the corresponding control speed, such as 8deg / s).

[0121] Taking two buttons on the steering wheel as examples of contact-type controls, the two buttons are designated as the first button and the second button, with the first button corresponding to the outdoor scene and the second button corresponding to the urban scene. The user's command to activate the U-turn function and the user's command to select the outdoor scene can be input simultaneously by pressing and holding the first button. This allows the vehicle to activate the U-turn function and display the U-turn function interface on the instrument panel (as shown in Figure 3A). After confirming manual recognition, the interface shown in Figure 3A switches to Figure 3B. Then, confirming the selection of the outdoor scene switches the interface (as shown in Figure 3B) to the first preset interface (e.g., displaying only the outdoor scene area in Figure 3B, or performing at least one of the following: increasing the brightness of the outdoor scene area in Figure 3B), or activating the control (e.g., illuminating the scroll wheel button and displaying the "VOT" icon shown in Figure 4A), which then controls the control to display the first preset information (e.g., illuminating the "Outdoor Scene" icon in Figure 4B).

[0122] In some embodiments, the user's command to activate the U-turn function and the user's command to select a city scene can be generated simultaneously after pressing and holding the second button. This allows the vehicle to activate the U-turn function after pressing and holding the second button, and the vehicle's dashboard to display the U-turn function interface (as shown in Figure 3A). After confirming the selection of manual recognition, the interface shown in Figure 3A switches to Figure 3B. Then, after confirming the selection of a city scene, at least one of the following actions is performed: switching the interface (as shown in Figure 3B) to a second preset interface (e.g., displaying only the area of ​​the city scene in Figure 3B; or performing at least one of the following actions: increasing the brightness of the area of ​​the city scene in Figure 3B); or waking up the operating component (e.g., illuminating the scroll wheel button and displaying the "VOT" icon shown in Figure 4A), and then controlling the operating component to display the second preset information (e.g., illuminating the "City Scene" icon in Figure 4B).

[0123] Therefore, the information displayed on the instrument panel and control components allows the driver to easily understand the execution status of the corresponding U-turn control command.

[0124] For ease of understanding, the following description, using a scroll wheel button on the steering wheel as an example, in conjunction with Figure 6, illustrates the implementation process of the manual U-turn function in some embodiments of this disclosure.

[0125] In some embodiments, as shown in Figure 6, the implementation process of the manual U-turn function is as follows:

[0126] S60, Start Process.

[0127] S61, if a long press of the scroll wheel button is detected (e.g., more than 2 seconds), proceed to S62.

[0128] S62, enable the U-turn function.

[0129] At this time, the U-turn function interface shown in Figure 3A can be displayed on the dashboard or in-vehicle PAD, and the scroll wheel button can be activated, as shown in Figure 4A.

[0130] S63, enter the manual recognition command.

[0131] Manual recognition commands can be input via voice, gestures, or the touch buttons on the in-vehicle PAD. At this time, the interface in Figure 3A will switch to the interface shown in Figure 3B.

[0132] S64, rotate the scroll wheel to select a scene.

[0133] If you confirm to turn the scroll wheel left (counterclockwise) and click the scroll wheel button to confirm, proceed to S65; if you confirm to turn the scroll wheel right (clockwise) and click the scroll wheel button to confirm, proceed to S66.

[0134] S65, including S651 to S654.

[0135] S651, select the city scene.

[0136] S652, the rotating wheel is used to select the direction and angle of rotation.

[0137] After selecting the city scene, use the scroll wheel to infinitely adjust the rotation direction and angle. If you select to turn left, execute S653; if you select to turn right, execute S654.

[0138] S653, select to control the vehicle to rotate counterclockwise, and display the rotation angle.

[0139] You can choose to control the vehicle to rotate counterclockwise, and the left turn angle can be displayed simultaneously on the instrument panel in both numerical and pointer form.

[0140] S654, select to control the vehicle to rotate clockwise, and display the rotation angle.

[0141] You can choose to control the vehicle to rotate clockwise, and at the same time, the right turn angle can be displayed simultaneously on the instrument panel in the form of a number and a pointer.

[0142] After rotating, click the scroll wheel button to confirm the selection. After confirmation, move to S67.

[0143] S66, including S661 to S664.

[0144] S661, select the outdoor scene.

[0145] S662, rotate the roller to select the direction.

[0146] After selecting the outdoor scene, use the scroll wheel to infinitely adjust the rotation direction. If you select to rotate the scroll wheel to the left, execute S663; if you select to rotate the scroll wheel to the right, execute S664.

[0147] S663, select to control the vehicle to rotate counterclockwise.

[0148] S664, select to control the vehicle to rotate clockwise.

[0149] After rotating, click the scroll wheel button to confirm the selection. After confirmation, move to S67.

[0150] S67, double-click the scroll wheel button.

[0151] Double-click the scroll wheel button to set the parameters for turning around on the spot.

[0152] S68, making a U-turn in place.

[0153] During operation, in urban scenarios, the vehicle model on the interface in Figure 3B will synchronously display the vehicle's rotation status and the corresponding speed; in outdoor scenarios, the vehicle model on the interface in Figure 3B will not change synchronously, but will synchronously display the real-time speed corresponding to the throttle opening.

[0154] The basis for achieving a U-turn on the spot is the opposite rotation of the left and right wheels. By applying opposite torques to the left and right wheels, the tires exceed the road surface adhesion limit and rotate, causing the vehicle to rotate around its center of mass, thus achieving a U-turn on the spot.

[0155] S69, End of process.

[0156] Based on the vehicle control method of the above embodiments, this disclosure also proposes a vehicle control device.

[0157] Figure 7 is a block diagram of a control device for turning around in place according to some embodiments.

[0158] As shown in Figure 7, the vehicle control device 700 includes an identification module 701 and a control module 702.

[0159] Here, the recognition module 701 is configured to recognize the scene in which the vehicle is located; the control module 702 is configured to control the vehicle to make a U-turn in place according to the scene in which it is located.

[0160] In some embodiments of this disclosure, identifying the scene in which the vehicle is located includes: determining a target identification method, wherein the target identification method is one of automatic identification, semi-automatic identification, and manual identification; and identifying the scene in which the vehicle is located based on the target identification method.

[0161] In some embodiments of this disclosure, when the target recognition method is automatic recognition, the scene in which the vehicle is located is identified according to the target recognition method, including: identifying the road surface type and surrounding obstacles of the road surface where the vehicle is located; and obtaining the scene based on the road surface type and surrounding obstacles.

[0162] In some embodiments of this disclosure, when the target recognition method is semi-automatic recognition, the vehicle's location scene is identified according to the target recognition method, including: identifying the road surface options and surrounding obstacle options of the road surface where the vehicle is located; obtaining at least one optional scene based on the road surface options and surrounding obstacle options; and determining the current scene from the at least one optional scene according to the user's scene determination instruction.

[0163] In some embodiments of this disclosure, when the target recognition method is manual recognition, the vehicle's location scene is identified according to the target recognition method, including: obtaining the vehicle's location scene according to the user's scene selection instruction.

[0164] In some embodiments of this disclosure, controlling a vehicle to make a U-turn in place according to the scene includes: determining a target control method according to the scene, wherein the target recognition method is one of automatic control, semi-automatic control, and manual control; and controlling the vehicle to make a U-turn in place according to the target control method.

[0165] In some embodiments of this disclosure, when the target control method is automatic control, the scenario includes the road surface type on the road where the vehicle is located and the obstacle situation around the vehicle. Determining the target control method based on the scenario includes: determining the target speed of the vehicle based on the road surface type on the road where the vehicle is located, and determining the target turning angle based on the obstacle situation around the vehicle; automatically controlling the vehicle to make a U-turn in place according to the target speed and target turning angle.

[0166] For example, road surface type includes road surface adhesion coefficient and road surface slope. The target speed of the whole vehicle is determined based on the road surface adhesion coefficient. The target control method is determined according to the scenario. It also includes: determining the target wheel speed of each wheel of the vehicle based on the road surface slope and the target speed of the whole vehicle; and automatically controlling the vehicle to turn around in place according to the target wheel speed and target turning angle.

[0167] Here, the target rotational speed of the vehicle is negatively correlated with the road surface adhesion coefficient. When the vehicle makes a U-turn at the target wheel speed, the vehicle's center of gravity shifts within the preset offset range. The target turning angle is the turning angle along the preset steering direction, and it is smaller than the turning angle of the vehicle rotating in place along the preset steering direction and colliding with a static obstacle.

[0168] In some embodiments of this disclosure, when the target control method is semi-automatic control, the scenario includes the road surface type where the vehicle is located and the obstacle conditions around the vehicle. The target control method is determined according to the scenario, including: determining the recommended vehicle speed based on the road surface type where the vehicle is located, and determining the recommended turning angle based on the obstacle conditions around the vehicle; and controlling the vehicle to make a U-turn in place according to at least one of the recommended vehicle speed or the adjusted recommended turning angle as instructed by the user parameters.

[0169] In some embodiments of this disclosure, when the target control mode is manual control, the target control mode is determined according to the scenario, including: controlling the vehicle to make a U-turn in place according to the control parameters obtained by selecting instructions based on the scenario and user parameters.

[0170] In some embodiments, the scene is an urban scene, and the control parameters obtained by selecting instructions based on the scene and user parameters include: preset speed, selected steering direction and selected steering angle.

[0171] In other embodiments, the scenario is an outdoor scenario, and the control parameters obtained from the user parameter selection command based on the scenario include: target speed and selected steering. Here, the target speed is determined based on the depth of the vehicle's accelerator pedal.

[0172] In some embodiments of this disclosure, after receiving a user parameter selection instruction, the control module 702 further determines that it has received a first user parameter confirmation instruction to confirm that the selected control parameter is valid.

[0173] In some embodiments of this disclosure, the control module 702 also determines that it has received a second user parameter confirmation instruction before controlling the vehicle to make a U-turn.

[0174] In some embodiments of this disclosure, user instructions are generated based on the action of at least one of a contact-type or non-contact-type operator. Here, user instructions include at least one of a user scenario confirmation instruction, a user scenario selection instruction, a user parameter adjustment instruction, a user parameter selection instruction, a first user parameter confirmation instruction, or a second user parameter confirmation instruction. The contact-type operator is disposed on the vehicle's steering wheel, auxiliary instrument panel, center console, or in-vehicle PAD.

[0175] In some embodiments of this disclosure, the actions of a contact-type actuator include at least one of pressing or rotating the contact-type actuator, and the actions of a non-contact-type actuator include at least one of the recognized gesture type, air button action, facial action, brainwave type, or voice control command.

[0176] In some embodiments of this disclosure, pressing the contact actuator includes the number of presses and the duration of the press, and rotating the contact actuator includes the direction and angle of rotation.

[0177] In some embodiments of this disclosure, the control module 702 is further configured to perform at least one of the following: control at least one of the vehicle's instrument panel or head-up display to display the U-turn function interface corresponding to the target control mode, or control the contact-type operating element to display the identification information corresponding to the target control mode.

[0178] In some embodiments of this disclosure, the control module 702 is further configured to perform at least one of the following: displaying control parameters for the vehicle to make a U-turn on the U-turn function interface, or controlling the contact-type operating element to display identification information corresponding to the control parameters.

[0179] It should be noted that for other embodiments of the vehicle control device 700 of this disclosure, please refer to the embodiments of the vehicle control method of the above-described embodiments of this disclosure.

[0180] Based on the vehicle control method of the above embodiments, this disclosure also proposes a computer-readable storage medium.

[0181] In this embodiment, a computer program is stored thereon, and when the computer program is executed by a processor, the above-described vehicle control method is implemented.

[0182] Based on the vehicle control method of the above embodiments, this disclosure also proposes a controller.

[0183] Figure 8 is a block diagram of a control device according to some embodiments.

[0184] As shown in Figure 8, the control device 800 includes a processor 801, a memory 803, and a computer program stored in the memory. When the computer program is executed by the processor, it implements the vehicle control method described above.

[0185] Processor 801 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. Processor 801 may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with this disclosure. Processor 801 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0186] Bus 802 may include a pathway for transmitting information between the aforementioned components. Bus 802 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 802 can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in Figure 8, but this does not indicate that there is only one bus or one type of bus.

[0187] The memory 803 stores a computer program corresponding to the vehicle control method of the above embodiments of this disclosure, and the computer program is controlled and executed by the processor 801. The processor 801 executes the computer program stored in the memory 803 to implement the content shown in the foregoing method embodiments.

[0188] The control device 800 also includes a transceiver 804, which satisfies at least one of the following: the transceiver 804 is used to receive data, or the transceiver 804 is used to send data, or the transceiver 804 is used to both receive and send data.

[0189] The control device 800 shown in Figure 8 is merely one embodiment and should not impose any limitations on the functionality and scope of use of some embodiments of this disclosure.

[0190] Figure 9 is a block diagram of a vehicle control system according to some embodiments.

[0191] As shown in Figure 9, the vehicle control system 900 includes an operating element 901. The operating element 901 is used to input user commands during operation to control the vehicle to make a U-turn. The operating element 901 includes at least one of a contact operating element or a non-contact operating element. The contact operating element is disposed in a preset area inside the vehicle, including the steering wheel. Here, the distance between the preset area inside the vehicle and the steering wheel is less than the distance between the vehicle-mounted PAD and the steering wheel.

[0192] Here, the user instruction may include at least one of the following in the vehicle control method described in the above embodiments: user turn-on function activation instruction, user identification instruction, user scenario confirmation instruction, user scenario selection instruction, user parameter adjustment instruction, user parameter selection instruction, first user parameter confirmation instruction, or second user parameter confirmation instruction.

[0193] In some embodiments of this disclosure, as shown in FIG10, the vehicle control system 900 further includes a controller 902.

[0194] Here, the controller 902 is used to obtain the target control parameters according to the user's instructions, and control the vehicle to make a U-turn in place according to the target control parameters.

[0195] In some embodiments of this disclosure, the contact-type operating element is disposed on the vehicle's steering wheel, instrument panel, or center console.

[0196] In some embodiments of this disclosure, the actions of a contact-type actuator include at least one of pressing or rotating the contact-type actuator, and the actions of a non-contact-type actuator include at least one of the recognized gesture type, air button action, facial action, brainwave type, or voice control command.

[0197] In some embodiments of this disclosure, pressing the contact actuator includes the number of presses and the duration of the press, and rotating the contact actuator includes the direction and angle of rotation.

[0198] In some embodiments of this disclosure, as shown in FIG11, the vehicle control system 900 further includes an instrument panel 903 or a head-up display 904 (FIG11 is shown as an example including an instrument panel 903 and a head-up display 904).

[0199] In this embodiment, the controller 902 is also configured to perform at least one of the following: control the instrument panel 903 and / or the head-up display 904 to display the U-turn function interface and display the target control parameters on the U-turn function interface, or control the contact-type operating element to display the identification information corresponding to the target control parameters.

[0200] It should be noted that for other embodiments of the vehicle control system 900 of this disclosure, please refer to the embodiments of the vehicle control method of the above embodiments of this disclosure.

[0201] Figure 12 is a block diagram of a vehicle according to some embodiments.

[0202] As shown in Figure 12, the vehicle 1200 includes the vehicle control system 900 of the above embodiment.

[0203] In summary, the vehicle and its control method, device, system, storage medium, and control equipment of the present disclosure embodiments can realize diversified control of vehicle U-turns on the spot. Under some control conditions, the driver can complete the U-turn operation conveniently and quickly without taking his hands off the steering wheel and with his eyes deviating from the forward field of vision as little as possible. This reduces safety hazards, lowers the complexity of the entire process, and improves human-computer interaction efficiency.

[0204] It should be noted that at least one of the logic or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be implemented in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this disclosure, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More examples of computer-readable media (a non-exhaustive list) include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic device, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0205] It should be understood that various parts of this disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in other embodiments, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0206] In the description of this disclosure, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this disclosure, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0207] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure.

[0208] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0209] In this disclosure, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0210] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0211] Although embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A method for controlling a vehicle, comprising: Identify the vehicle's location; as well as The vehicle is controlled to make a U-turn on the spot based on the current scenario.

2. The vehicle control method according to claim 1, wherein, The scene in which the vehicle is located includes: The target recognition method is determined, wherein the target recognition method is one of automatic recognition, semi-automatic recognition, and manual recognition; The vehicle's location is identified based on the target recognition method.

3. The vehicle control method according to claim 2, wherein, When the target recognition method is automatic recognition, the step of recognizing the scene in which the vehicle is located according to the target recognition method includes: Identify the road surface type and surrounding obstacles where the vehicle is located; The scene is determined based on the road surface type and the surrounding obstacles.

4. The vehicle control method according to claim 2, wherein, When the target recognition method is the semi-automatic recognition, the step of recognizing the scene in which the vehicle is located according to the target recognition method includes: Identify the available road surface types and surrounding obstacle options for the vehicle's location; Based on the available road surface types and the available surrounding obstacles, at least one optional scenario is obtained; The user scenario determination instruction determines the current scenario from at least one optional scenario.

5. The vehicle control method according to claim 2, wherein, When the target recognition method is manual recognition, the step of recognizing the scene in which the vehicle is located according to the target recognition method includes: The user selects the specified scenario based on the scenario selection command.

6. The vehicle control method according to any one of claims 1-5, wherein, The step of controlling the vehicle to make a U-turn on the spot according to the current scenario includes: The target control method is determined based on the scenario, wherein the target control method is one of automatic control, semi-automatic control, or manual control; The vehicle is controlled to make a U-turn in place according to the target control method.

7. The vehicle control method according to claim 6, wherein, When the target control method is automatic control, the scenario includes the road surface type where the vehicle is located and the obstacle situation around the vehicle. Determining the target control method based on the scenario includes: Perform at least one of the following: determine the target rotational speed of the vehicle based on the road surface type on which the vehicle is located; or determine the target turning angle based on the obstacles around the vehicle. The vehicle is automatically controlled to make a U-turn in place according to the target speed and / or the target turning angle.

8. The vehicle control method according to claim 7, wherein, The road surface type includes the road surface adhesion coefficient and the road surface slope; The target rotational speed of the vehicle is determined based on the road surface adhesion coefficient; The step of determining the target control method based on the current scenario also includes: The target wheel speed of each wheel of the vehicle is determined based on the road surface slope and the target rotational speed of the vehicle. The vehicle is automatically controlled to make a U-turn in place according to the target wheel speed and the target turning angle.

9. The vehicle control method according to claim 8, wherein, The target rotational speed of the vehicle is negatively correlated with the road surface adhesion coefficient. When the vehicle makes a U-turn at the target wheel speed, the center of gravity of the vehicle is offset within a preset offset range. The target turning angle is the turning angle along a preset direction, and the target turning angle is smaller than the turning angle at which the vehicle rotates in place along the preset direction and collides with a static obstacle.

10. The vehicle control method according to claim 6, wherein, When the target control method is semi-automatic control, the scenario includes the road surface type where the vehicle is located and the obstacles around the vehicle. Determining the target control method based on the scenario includes: Perform at least one of the following: determine the recommended engine speed of the vehicle based on the road surface type on which the vehicle is located, or determine the recommended turning angle based on the obstacles around the vehicle; The vehicle is controlled to make a U-turn in place according to at least one of the recommended speed or the recommended steering angle adjusted according to the user parameter adjustment command.

11. The vehicle control method according to claim 6, wherein, When the target control mode is manual control, determining the target control mode based on the current scenario includes: The vehicle is controlled to make a U-turn in place according to the control parameters obtained from the selected instructions based on the current scenario and user parameters.

12. The vehicle control method according to claim 11, wherein, The scenario is an urban scenario. The control parameters obtained based on the scenario and user parameter selection instructions include: preset speed, selected steering direction, and selected turning angle.

13. The vehicle control method according to claim 11, wherein, The scenario is an outdoor scenario. The control parameters obtained based on the scenario and user parameter selection instructions include: target speed and selected steering; wherein, the target speed is determined based on the depth of the vehicle's accelerator pedal.

14. The vehicle control method according to claim 11, wherein, After receiving the user parameter selection instruction, the method further includes: Once the first user parameter confirmation command is received, the selected control parameter is confirmed to be valid.

15. The vehicle control method according to any one of claims 1-14, wherein, Before controlling the vehicle to make a U-turn, the method further includes: Confirmation of receipt of the second user parameter confirmation command has been received.

16. The vehicle control method according to any one of claims 6-14, wherein, User instructions are generated based on the action of at least one of contact or non-contact actuators; The user instructions include at least one of the following: user scenario confirmation instruction, user scenario selection instruction, user parameter adjustment instruction, user parameter selection instruction, first user parameter confirmation instruction, or second user parameter confirmation instruction; the contact-type operating component is disposed on the vehicle's steering wheel, auxiliary instrument panel, center console, or in-vehicle PAD.

17. The vehicle control method according to claim 16, wherein, The action of the contact-type operating member includes at least one of pressing the contact-type operating member or rotating the contact-type operating member. The actions of the non-contact operating device include at least one of the following: a recognized gesture type, a remote button press, a facial gesture, a brainwave type, or a voice control command.

18. The vehicle control method according to claim 17, wherein, The pressing of the contact-type operating element includes the number of presses and the duration of the press; The rotation of the contact-type operating element includes both the direction and angle of rotation.

19. The vehicle control method according to any one of claims 16-18, further comprising at least one of the following: The instrument panel or head-up display of the vehicle is controlled to display the U-turn function interface corresponding to the target control mode; Alternatively, the contact-type operating element may be controlled to display the identification information corresponding to the target control mode.

20. The vehicle control method according to claim 19, further comprising at least one of the following: The interface for the U-turn function displays the control parameters for the vehicle to make a U-turn; or... The contact-type operating device is controlled to display the identification information corresponding to the control parameters.

21. A vehicle control device, comprising: The recognition module is configured to identify the scene in which the vehicle is located; as well as The control module is configured to control the vehicle to make a U-turn in place based on the current scenario.

22. A computer-readable storage medium having a computer program stored thereon, wherein, When the computer program is executed by the processor, it implements the vehicle control method according to any one of claims 1-20.

23. A control device comprising a memory, a processor, and a computer program stored in the memory, wherein, When the computer program is executed by the processor, it implements the vehicle control method according to any one of claims 1-20.

24. A vehicle control system, comprising: An operating element is used to input user commands during operation to control the vehicle to make a U-turn on the spot, and the operating element includes at least one of a contact operating element or a non-contact operating element. The contact-type operating component is disposed in a preset area inside the vehicle, including the steering wheel, wherein the distance between the preset area inside the vehicle and the steering wheel is less than the distance between the vehicle-mounted PAD and the steering wheel.

25. The vehicle control system according to claim 24, further comprising: The controller is configured to obtain target control parameters according to the user instructions, and control the vehicle to make a U-turn in place according to the target control parameters.

26. The vehicle control system according to claim 24 or 25, wherein, The contact-type operating element is located on the vehicle's steering wheel, auxiliary instrument panel, or center console.

27. The vehicle control system according to claim 26, wherein, The action of the contact-type operating member includes at least one of pressing or rotating the contact-type operating member. The actions of the non-contact operating device include at least one of the following: a recognized gesture type, a remote button press, a facial gesture, a brainwave type, or a voice control command.

28. The vehicle control system according to claim 27, wherein, The pressing of the contact-type operating element includes the number of presses and the duration of the press; The rotation of the contact-type operating element includes both the direction and angle of rotation.

29. The vehicle control system according to claim 25, further comprising: At least one of the dashboard or head-up display; The controller is further configured to control at least one of the instrument panel or the head-up display to display a U-turn function interface and perform at least one of the following: The target control parameters are displayed on the in-situ U-turn function interface; or, The contact-type operating device is controlled to display the identification information corresponding to the target control parameter.

30. A vehicle comprising: The vehicle control system according to any one of claims 24-29.

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