Tank-turn control method for vehicle, vehicle control unit, and vehicle

Abstract

Disclosed in the present invention are a tank-turn control method for a vehicle, a vehicle control unit, and a vehicle, applied to the technical field of vehicles. In the method, in response to a tank-turn instruction, a vehicle control unit controls a vehicle to perform tank-turn by using a target wheel as a fulcrum, so that tank-turn of the vehicle can be controlled, and even if a traffic jam occurs, vehicle congestion can also be avoided by means of tank-turn. The target wheel is any one of a plurality of wheels. Additionally, in the present invention, any one of the plurality of wheels can be determined as a fulcrum in the tank-turn process, and therefore, the tank-turn flexibility of the vehicle is effectively improved, and the tank-turn of the vehicle is more convenient and controllable.

Description

Vehicle in-place turning control method, vehicle controller and vehicle

[0001] Related cross-references

[0002] The present application is based on and claims priority to Chinese Patent Application No. 202410818478.9, filed on June 21, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the technical field of vehicles, in particular to a vehicle in-place turning control method, a vehicle controller and a vehicle. BACKGROUND

[0004] During the driving of a vehicle, traffic jams often occur when the road conditions are poor. If the vehicle cannot achieve approximate in-place turning, it can only continue driving after the traffic jam is alleviated. SUMMARY

[0005] The present application provides a vehicle in-place turning control method, a vehicle controller and a vehicle, which can solve the problem that the vehicle cannot achieve approximate in-place turning in related technologies. The technical solution is as follows:

[0006] In one aspect, a vehicle in-place turning control method is provided, the method comprising:

[0007] In response to an in-place turning instruction, controlling the vehicle to perform in-place turning with a target wheel as a fulcrum.

[0008] The target wheel is any one of a plurality of wheels.

[0009] Optionally, before controlling the vehicle to perform in-place turning with the target wheel as the fulcrum, the method further comprises:

[0010] In response to a selection instruction for the target wheel among the plurality of wheels, locking the target wheel.

[0011] Optionally, in response to the selection instruction for the target wheel among the plurality of wheels, locking the target wheel comprises:

[0012] In the case of self-checking of the vehicle, in response to the selection instruction for the target wheel among the plurality of wheels, locking the target wheel.

[0013] Optionally, controlling the vehicle to perform in-place turning with the target wheel as the fulcrum comprises:

[0014] In the case where the vehicle meets in-place turning conditions, controlling the vehicle to perform in-place turning with the target wheel as the fulcrum.

[0015] Optionally, the vehicle is in a stationary state before the vehicle satisfies the condition of the original turning.

[0016] Optionally, the condition of the original turning comprises:

[0017] The gear of the vehicle is in a D or R gear, the steering wheel angle is greater than or equal to an angle threshold, the vehicle speed is in a vehicle speed range, and the depth of the accelerator pedal of the vehicle is greater than or equal to a first preset depth.

[0018] Optionally, the target wheel is a target front wheel of the first front wheel and the second front wheel; and the vehicle is controlled to perform the original turning with the target wheel as a fulcrum, comprising:

[0019] The first rear wheel and the second rear wheel are controlled to deflect in opposite directions, respectively.

[0020] The target wheel is used as a fulcrum to drive the wheels other than the target wheel in the plurality of wheels to perform the original turning.

[0021] The deflection direction of the first rear wheel is the same as the steering direction of the steering wheel, and the first rear wheel and the target wheel are located on the same side of the vehicle.

[0022] Optionally, during the process of driving the wheels other than the target wheel in the plurality of wheels to perform the original turning, the rotation direction of the front wheel is the same as the rotation direction of the second rear wheel, and the rotation direction of the second rear wheel is opposite to the rotation direction of the first rear wheel.

[0023] The front wheel is a wheel other than the target front wheel of the first front wheel and the second front wheel.

[0024] Optionally, the deflection angle of the first rear wheel and the second rear wheel is a maximum deflection angle of the rear wheel.

[0025] Optionally, the target wheel is a target rear wheel of the first rear wheel and the second rear wheel; and the vehicle is controlled to perform the original turning with the target wheel as a fulcrum, comprising:

[0026] The reference rear wheel is controlled to deflect in a direction opposite to the steering direction of the steering wheel, the reference rear wheel being a wheel other than the target rear wheel of the first rear wheel and the second rear wheel.

[0027] The target wheel is used as a fulcrum to drive the wheels other than the target wheel in the plurality of wheels to perform the original turning.

[0028] Optionally, during the process of driving the wheels other than the target wheel in the plurality of wheels to perform the original turning, the rotation directions of the two front wheels and the rotation direction of the reference rear wheel are all the same.

[0029] Optionally, the deflection angle of the reference rear wheel is a maximum deflection angle of the rear wheel.

[0030] Optionally, the method further comprises:

[0031] In a case where it is determined that the vehicle meets the pause-in-place turning condition, the vehicle is controlled to pause in place turning.

[0032] Optionally, the pause-in-place turning condition comprises one or more of the following:

[0033] The steering wheel turning angle is less than an angle threshold, and a depth of a brake pedal of the vehicle is greater than or equal to a second preset depth.

[0034] Optionally, the method further comprises:

[0035] In a case where it is determined that the vehicle meets the exit-in-place turning condition, the vehicle is controlled to exit in place turning.

[0036] Optionally, the exit-in-place turning condition comprises one or more of the following:

[0037] The vehicle speed is outside a vehicle speed range, a gear of the vehicle is a gear other than D or R, a device for controlling the vehicle to turn in place is faulty, or a turning exit instruction is received.

[0038] In another aspect, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the vehicle in-place turning control method.

[0039] In yet another aspect, a vehicle controller is provided, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the vehicle in-place turning control method when executing the computer program.

[0040] In still another aspect, a vehicle is provided, which comprises the vehicle controller.

[0041] To sum up, the embodiments of the present application provide a vehicle in-place turning control method, a vehicle controller, and a vehicle. In the method, the vehicle controller controls the vehicle to turn in place with a target wheel as a fulcrum in response to an in-place turning instruction, so that the vehicle can be controlled to turn in place, and even if a traffic jam occurs, the vehicle can avoid congestion by turning in place. The target wheel is any one of a plurality of wheels.

[0042] Further, since the embodiments of the present application can determine any one of a plurality of wheels as a fulcrum in the in-place turning process, the flexibility of the vehicle in-place turning is effectively improved, and the vehicle in-place turning is more convenient and controllable.

[0043] Additional aspects and advantages of the present application will be set forth in part in the description that follows, and in part will become apparent to those skilled in the art upon examination of the following and / or can be learned by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0044] Fig. 1 is a flow chart of a vehicle spot turning control method according to an embodiment of the present application;

[0045] Fig. 2 is a flow chart of another vehicle spot turning control method according to an embodiment of the present application;

[0046] Fig. 3 is a schematic diagram of a vehicle spot turning according to an embodiment of the present application;

[0047] Fig. 4 is a schematic diagram of another vehicle spot turning according to an embodiment of the present application;

[0048] Fig. 5 is a schematic diagram of still another vehicle spot turning according to an embodiment of the present application;

[0049] Fig. 6 is a schematic diagram of yet another vehicle spot turning according to an embodiment of the present application;

[0050] Fig. 7 is a schematic diagram of still another vehicle spot turning according to an embodiment of the present application;

[0051] Fig. 8 is a schematic diagram of yet another vehicle spot turning according to an embodiment of the present application;

[0052] Fig. 9 is a schematic diagram of still another vehicle spot turning according to an embodiment of the present application;

[0053] Fig. 10 is a schematic diagram of yet another vehicle spot turning according to an embodiment of the present application;

[0054] Fig. 11 is a schematic diagram of a vehicle turning radius according to an embodiment of the present application;

[0055] Fig. 12 is a schematic diagram of a vehicle passing a right-angle bend according to an embodiment of the present application;

[0056] Fig. 13 is a schematic diagram of a vehicle parking into a parking space according to an embodiment of the present application;

[0057] Fig. 14 is a schematic diagram of a vehicle controller according to an embodiment of the present application;

[0058] Fig. 15 is a block diagram of a vehicle spot turning control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0059] Embodiments of the present application are described in detail below with reference to the attached drawings, wherein the same or like reference numerals are used to denote the same or like elements throughout the several views. The embodiments described below are exemplary, and are intended to explain the present application, and are not to be understood as limiting the present application.

[0060] Figure 1 is a flow chart of a vehicle spot turning control method according to an embodiment of the present application. The method is applied to a vehicle controller in a vehicle. Optionally, the vehicle controller can be an electronic control unit (ECU). As shown in Figure 1, the method comprises:

[0061] Step 101, in response to a spot turning instruction, controlling the vehicle to perform spot turning with a target wheel as a fulcrum.

[0062] The vehicle controller can control the vehicle to perform spot turning with a target wheel as a fulcrum in response to a spot turning instruction. The target wheel can be any one of the plurality of wheels.

[0063] In summary, the vehicle spot turning control method according to an embodiment of the present application can control the vehicle to perform spot turning in response to a spot turning instruction, so that the vehicle can avoid congestion by performing spot turning when traffic jam occurs. The target wheel can be any one of the plurality of wheels.

[0064] Further, any one of the plurality of wheels can be determined as a fulcrum in the spot turning process, so that the flexibility of the vehicle spot turning is effectively improved, and the vehicle spot turning is more convenient and controllable.

[0065] Figure 2 is a flow chart of another vehicle spot turning control method according to an embodiment of the present application. The method can be applied to a vehicle controller in a vehicle. Optionally, the vehicle controller can be an ECU. As shown in Figure 2, the method can comprise:

[0066] Step 201, in response to a spot turning instruction, detecting whether the vehicle passes self-checking.

[0067] The vehicle controller can detect whether the vehicle passes self-checking in response to a spot turning instruction. If the vehicle passes self-checking, the vehicle controller can determine that the device for controlling the vehicle to perform spot turning is operating normally, and thus step 202 can be performed. If the vehicle does not pass self-checking, the vehicle controller can determine that the device for controlling the vehicle to perform spot turning is operating abnormally, and thus step 207 can be performed.

[0068] Optionally, the self-checking is a detection on a device for controlling the vehicle to perform the spot turning, so as to ensure that the device can normally operate during the spot turning, thereby ensuring that the vehicle can normally complete the spot turning. The device can include, but is not limited to, a communication module of the vehicle, an intelligent power brake (IPB) system, a vehicle control unit (VCU), and a rear wheel steering (RWS) system. The IPB system can be used to lock the wheels, the RWS can be used to control the deflection of the rear wheels, and the VCU can be used to determine the torque of the wheel steering.

[0069] In the embodiment of the present application, the central control of the vehicle can be provided with a spot turning button. The spot turning instruction can be triggered by a selection operation on the spot turning button.

[0070] In step 202, a target wheel is selected from the plurality of wheels in response to a selection instruction for the target wheel.

[0071] After the self-checking of the vehicle, the vehicle controller can select a target wheel from the plurality of wheels in response to a selection instruction for the target wheel.

[0072] In the embodiment of the present application, the central control of the vehicle can display the plurality of wheels, and the driver can select any wheel from the plurality of wheels as the target wheel. Correspondingly, the vehicle controller can generate a selection instruction for the target wheel from the plurality of wheels in response to the selection operation of the driver, and select the target wheel from the plurality of wheels in response to the selection instruction.

[0073] The selection operation can be a touch operation, a button operation, or a voice operation. The plurality of wheels can include a first front wheel, a second front wheel, a first rear wheel, and a second rear wheel. Optionally, the first front wheel can be the left front wheel (or the right front wheel) of the vehicle, and the second front wheel can be the right front wheel (or the left front wheel) of the vehicle. The first rear wheel can be the left rear wheel (or the right rear wheel) of the vehicle, and the second rear wheel can be the right rear wheel (or the left rear wheel) of the vehicle.

[0074] In step 203, it is determined whether the vehicle meets the spot turning condition.

[0075] After the target wheel is selected, the vehicle controller can determine whether the vehicle meets the spot turning condition. If the vehicle controller determines that the vehicle meets the spot turning condition, step 204 can be performed. If the vehicle controller determines that the vehicle does not meet the spot turning condition, step 207 can be performed.

[0076] The in-place turning condition can include that the gear of the vehicle is in a D gear (i.e., a forward gear) or an R gear (i.e., a reverse gear), the steering wheel rotation angle is greater than or equal to an angle threshold, the vehicle speed is within a vehicle speed range, and the depth of the accelerator pedal of the vehicle is greater than or equal to a first preset depth.

[0077] Optionally, the vehicle controller can pre-store the angle threshold, the vehicle speed range, and the first preset depth. The vehicle surface can be provided with a speed sensor, the steering wheel can be provided with an angle sensor, and the accelerator pedal can be provided with a first displacement sensor. The vehicle controller can obtain the vehicle speed through the speed sensor, obtain the steering wheel rotation angle through the angle sensor, and obtain the depth of the accelerator pedal through the first displacement sensor.

[0078] After selecting the target wheel, the vehicle controller can shift the gear of the vehicle to the D gear or the R gear, step on the accelerator pedal, and turn the steering wheel, so that the gear of the vehicle is in the D gear or the R gear, the steering wheel rotation angle is greater than or equal to the angle threshold, and the depth of the accelerator pedal of the vehicle is greater than or equal to the first preset depth. Thus, the vehicle is controlled to meet the in-place turning condition.

[0079] And, before the vehicle is controlled to meet the in-place turning condition, the vehicle is in a stationary state, i.e., the vehicle speed is 0. Thus, it is ensured that the vehicle is in the stationary state and the vehicle speed is 0 during the process in which the driver selects the target wheel from the plurality of wheels.

[0080] Step 204, locking the target wheel.

[0081] After determining that the vehicle meets the in-place turning condition, the vehicle controller can lock the target wheel. Optionally, the vehicle controller can lock the target wheel through the IPB system.

[0082] Step 205, controlling the vehicle to perform in-place turning with the target wheel as a fulcrum.

[0083] After locking the target wheel, the vehicle controller can control the vehicle to perform in-place turning with the target wheel as a fulcrum.

[0084] Optionally, if the target wheel is a target front wheel of the first front wheel and the second front wheel, the vehicle controller can control the first rear wheel and the second rear wheel to deflect in opposite directions, respectively, and drive the wheels other than the target wheel in the plurality of wheels to perform in-place turning with the target wheel as a fulcrum.

[0085] The deflection direction of the first rear wheel is the same as the steering direction of the steering wheel, and the first rear wheel and the target wheel are located on the same side of the vehicle. For example, if the target wheel is a left front wheel, the first rear wheel is a left rear wheel.

[0086] The deflection angle of the first rear wheel and the second rear wheel can be a maximum deflection angle of the rear wheel, and the vehicle controller can pre-store the maximum deflection angle of the rear wheel. For example, the maximum deflection angle of the rear wheel can be 10 degrees.

[0087] In the process of driving the wheels other than the target wheel to steer in place, the rotation direction of the reference front wheel is the same as the rotation direction of the second rear wheel, and the rotation direction of the second rear wheel is opposite to the rotation direction of the first rear wheel.

[0088] The reference front wheel is a wheel other than the target front wheel among the first front wheel and the second front wheel. For example, if the target wheel is the left front wheel, the reference front wheel is the right front wheel. The rotation direction of the wheel includes forward rotation or reverse rotation.

[0089] It can be understood that, in the case that the driver rotates the steering wheel so that the steering wheel angle is greater than the angle threshold, the first front wheel and the second front wheel are deflected under the action of the steering wheel, and the deflection directions of the first front wheel and the second front wheel are the same as the steering direction of the steering wheel.

[0090] In the embodiment of the application, the vehicle can include a front wheel motor, a first rear wheel motor and a second rear wheel motor. The front wheel motor is used to drive the first front wheel and the second front wheel to rotate. The first rear wheel motor is used to drive the first rear wheel to rotate, and the second rear wheel motor is used to drive the second rear wheel to rotate. The front wheel motor can be one motor or two motors, which is not limited in the embodiment of the application. If the front wheel motor is two motors, the front wheel motor can include the first front wheel motor and the second front wheel motor, the first front wheel motor is used to drive the first front wheel to rotate, and the second front wheel motor is used to drive the second front wheel to rotate. If the front wheel motor is one motor, the first front wheel and the second front wheel can share one front wheel motor, that is, the one front wheel motor is used to drive the two front wheels to rotate. Hereinafter, the vehicle including one front wheel motor, a first rear wheel motor and a second rear wheel motor is taken as an example for description.

[0091] For each wheel other than the target wheel, in the process of steering the vehicle in place, the vehicle controller obtains the depth of the accelerator pedal through the first displacement sensor and sends the depth of the accelerator pedal to the VCU. After receiving the depth of the accelerator pedal, the VCU can determine the torque of the motor corresponding to each wheel from the corresponding relationship between the depth of the accelerator pedal and the torque, and send the torque of the motor corresponding to each wheel to the vehicle controller. Thus, the vehicle controller drives the motor to rotate based on the torque of each motor, and then the motor drives the corresponding wheel. The rotation speed of the wheel is positively correlated with the torque of the motor.

[0092] As shown in FIG. 3, assuming that the target wheel 01 is the left front wheel of the vehicle, i.e., the first rear wheel is the left rear wheel of the vehicle at this time. Assuming that the steering wheel turns left, in the case that the gear of the vehicle is in the D gear, referring to FIG. 3, after the steering wheel is turned, both the left front wheel and the right front wheel are deflected to the left, and the vehicle controller controls the left rear wheel to turn left and the right rear wheel to turn right by the RWS after locking the left front wheel.

[0093] In the process of controlling the vehicle to spin in place, the vehicle controller can control the right front wheel to rotate forward by the front wheel motor, control the left rear wheel to rotate reversely by the first rear wheel motor, and control the right rear wheel to rotate forward by the second rear wheel motor. Thus, the vehicle is made to spin in place with the left front wheel as the fulcrum and in the counterclockwise rotation direction.

[0094] In the case that the gear of the vehicle is in the R gear, referring to FIG. 4, the vehicle controller can control the right front wheel to rotate reversely by the front wheel motor, control the left rear wheel to rotate forward by the first rear wheel motor, and control the right rear wheel to rotate reversely by the second rear wheel motor. Thus, the vehicle is made to spin in place with the left front wheel as the fulcrum and in the clockwise rotation direction.

[0095] As shown in FIG. 5, assuming that the target wheel 01 is the right front wheel, i.e., the first rear wheel is the right rear wheel at this time. Assuming that the steering wheel turns right, in the case that the gear of the vehicle is in the D gear, referring to FIG. 5, after the steering wheel is turned, both the left front wheel and the right front wheel are deflected to the right, and the vehicle controller can control the left rear wheel to turn left and the right rear wheel to turn right by the RWS after locking the right front wheel.

[0096] In the process of controlling the vehicle to spin in place, the vehicle controller can control the left front wheel to rotate forward by the front wheel motor, control the right rear wheel to rotate reversely by the first rear wheel motor, and control the left rear wheel to rotate forward by the second rear wheel motor. Thus, the vehicle is made to spin in place with the right front wheel as the fulcrum and in the clockwise rotation direction.

[0097] In the case that the gear of the vehicle is in the R gear, referring to FIG. 6, the vehicle controller can control the left front wheel to rotate reversely by the front wheel motor, control the right rear wheel to rotate forward by the first rear wheel motor, and control the left rear wheel to rotate reversely by the second rear wheel motor. Thus, the vehicle is made to spin in place with the right front wheel as the fulcrum and in the counterclockwise rotation direction.

[0098] Optionally, if the target wheel is a target rear wheel in the first rear wheel and the second rear wheel, the vehicle controller can control a reference rear wheel to deflect in a direction opposite to the steering wheel turning and drive the wheels other than the target wheel to spin in place with the target wheel as the fulcrum. The reference rear wheel is the wheel other than the target wheel in the first rear wheel and the second rear wheel, and the deflection angle of the reference rear wheel can be the maximum deflection angle of the rear wheel. For example, if the target wheel is the left rear wheel, the reference rear wheel is the right rear wheel.

[0099] Optionally, during the process of driving the wheels other than the target wheel to turn in place, the rotation direction of the first front wheel, the rotation direction of the second front wheel, and the rotation direction of the reference rear wheel are all the same.

[0100] Suppose the steering wheel turns left, and the target wheel 01 is the left rear wheel shown in FIG. 7. In the case where the gear of the vehicle is in D, referring to FIG. 7, after the steering wheel is turned, the left front wheel and the right front wheel are both deflected to the left, and the vehicle controller controls the right rear wheel to turn to the right by the RWS after locking the left rear wheel.

[0101] During the process of controlling the vehicle to turn in place, the vehicle controller can control the left front wheel and the right front wheel to rotate forward by the front motor, and control the right rear wheel to rotate forward by the second rear motor. Thus, the vehicle turns in place with the left rear wheel as the fulcrum and in a counterclockwise rotation direction.

[0102] In the case where the gear of the vehicle is in R, referring to FIG. 8, the vehicle controller can control the left front wheel and the right front wheel to rotate reversely by the front motor, and control the right rear wheel to rotate reversely by the second rear motor. Thus, the vehicle turns in place with the left rear wheel as the fulcrum and in a clockwise rotation direction.

[0103] Suppose the steering wheel turns right, and the target wheel 01 is the right rear wheel as shown in FIG. 9. In the case where the gear of the vehicle is in D, referring to FIG. 9, after the steering wheel is turned, the left front wheel and the right front wheel are both deflected to the right, and the vehicle controller controls the left rear wheel to turn to the left by the RWS after locking the right rear wheel.

[0104] During the process of controlling the vehicle to turn in place, the vehicle controller can control the left front wheel and the right front wheel to rotate forward by the front motor, and control the left rear wheel to rotate forward by the first rear motor. Thus, the vehicle turns in place with the right rear wheel as the fulcrum and in a clockwise rotation direction.

[0105] In the case where the gear of the vehicle is in R, referring to FIG. 10, the vehicle controller can control the left front wheel and the right front wheel to rotate reversely by the front motor, and control the left rear wheel to rotate reversely by the second rear motor. Thus, the vehicle turns in place with the right rear wheel as the fulcrum and in a counterclockwise rotation direction.

[0106] Step 206, control the vehicle to pause turning in place.

[0107] During the process of controlling the vehicle to turn in place with the target wheel as the fulcrum, in the case where it is determined that the vehicle meets the condition for pausing turning in place, the vehicle controller can control the vehicle to pause turning in place.

[0108] The pause-in-place turning condition can include one or more of: a steering wheel turning angle less than an angle threshold, and a depth of a brake pedal of the vehicle greater than or equal to a second preset depth. The vehicle controller can pre-store the second preset depth. A second displacement sensor can be arranged on the vehicle brake pedal, and the vehicle controller can obtain the depth of the brake pedal through the second displacement sensor.

[0109] Step 207, controlling the vehicle to exit the in-place turning.

[0110] If the vehicle does not meet the in-place turning condition or the vehicle fails the self-check, the vehicle controller can control the vehicle to exit the in-place turning.

[0111] Alternatively, in a case where it is determined that the vehicle meets the exit-in-place turning condition, the vehicle controller can control the vehicle to exit the in-place turning. The exit-in-place turning condition can include one or more of: a vehicle speed being outside a vehicle speed range, a gear of the vehicle being a gear other than a D gear or an R gear, a failure of a device for controlling the in-place turning, and receiving a turning exit instruction. The gear of the vehicle being a gear other than the D gear or the R gear can include a P gear (i.e., a parking gear) or an N gear (i.e., a neutral gear).

[0112] In an embodiment of the present application, the central control of the vehicle can also be provided with an exit-in-place turning button, and the vehicle controller can generate an exit-in-place turning instruction to control the vehicle to exit the in-place turning in response to a selection operation on the exit-in-place turning button.

[0113] It can be understood that, for a case where the vehicle controller controls the vehicle to exit the in-place turning because the vehicle fails the self-check, the vehicle controller can also control the central control of the vehicle to display a fault prompt information. For example, if the communication module of the vehicle fails the self-check, the fault prompt information displayed on the central control of the vehicle can be "vehicle communication failure, unable to in-place turn".

[0114] In an embodiment of the present application, during the in-place turning of the vehicle, a distance from a center of the target wheel to a center of an outer front wheel can be referred to as a minimum turning radius. The outer front wheel can be the first front wheel or the second front wheel, and the outer front wheel and the target wheel are located on different sides of the vehicle. The minimum turning radius can reflect the turning ability of the vehicle. The smaller the minimum turning radius, the stronger the turning ability of the vehicle, the better the maneuvering performance, and the stronger the in-place turning function. That is, the stronger the ability of the vehicle to pass through a curved road and the ability of the vehicle to U-turn on a narrow road. For example, if the target wheel is the left front wheel or the left rear wheel, the outer front wheel is the right front wheel. If the target wheel is the right front wheel or the right rear wheel, the outer front wheel is the left front wheel.

[0115] Taking the left front wheel as the target wheel, the outer front wheel as the right front wheel, and the gear of the vehicle as the D gear as an example, FIG. 11 is a schematic diagram of a turning radius of a vehicle according to an embodiment of the present application. Referring to FIG. 11, the vehicle turns in place with the left front wheel as the fulcrum, and the vehicle turns in place in a counterclockwise rotation direction, at this time, the minimum turning radius r is the distance from the center of the left front wheel to the center of the right front wheel.

[0116] In actual road conditions, the road conditions are complex and changeable, for example, in adverse road conditions such as alleys and narrow roads, if the vehicle needs to turn or U-turn, it needs to be achieved by reversing multiple times, which brings great inconvenience to the driver. Through the method provided in the embodiment of the present application, the driver can select the target wheel according to the actual road conditions to make the vehicle turn in place, without the need for multiple reversing, and the operation is convenient. Therefore, the driving experience of the driver can be improved, and the time consumption is short, and it is not easy to cause road congestion, and the passability of the vehicle is greatly improved.

[0117] Taking the vehicle passing through a right-angle bend as an example, referring to FIG. 12, taking the target wheel 01 as the left front wheel, the gear of the vehicle as the D gear, driving in the first direction x and turning in the second direction y as an example (the first direction x is perpendicular to the second direction y), the vehicle controls the vehicle to rotate 90 degrees counterclockwise with the left front wheel as the fulcrum to realize turning in place, so that the vehicle passes through the right-angle bend.

[0118] The method provided in the embodiment of the present application is also suitable for narrow road parking. Referring to FIG. 13, taking the vehicle driving in the third direction v and parking in the first parking space P as an example, the vehicle drives in the third direction to the front of the target parking space in the D gear, and any one of the front wheels can be determined as the target wheel. Assuming that the driver determines the left front wheel of the vehicle as the target wheel 01, the vehicle controls the vehicle to rotate 90 degrees counterclockwise with the left front wheel as the fulcrum to make the vehicle body face the first parking space P. Then, the driver can straighten the steering wheel and then reverse into the first parking space P. In this way, parking in the parking space is quickly completed without multiple reversing in a limited space.

[0119] In the embodiment of the present application, in the case that the target wheel is the left front wheel, when the vehicle turns in place, the first rear wheel and the second rear wheel are respectively driven by the first rear wheel motor and the second rear wheel motor, and have the ability of independent driving and independent steering fusion control. Therefore, the total yaw moment of the vehicle can be composed of three parts, which are the yaw moment M1 caused by the side slip of the rear wheel due to the front wheel turning, the yaw moment M2 caused by the opposite rotation directions of the first rear wheel and the second rear wheel, and the yaw moment M3 caused by the deflection of the first rear wheel and the second rear wheel in opposite directions. Compared with the traditional steering mode, by using the method provided in the embodiment of the present application, the total yaw moment of the vehicle is larger, which can improve the control accuracy and steering ability of the vehicle, and make the vehicle turn more flexible and flexible.

[0120] In summary, the embodiment of the present application provides a vehicle spot turning control method, in which the vehicle controller controls the vehicle to perform spot turning with a target wheel as a fulcrum in response to a spot turning instruction, so as to control the vehicle to perform spot turning, and avoid vehicle congestion by spot turning in the case of traffic jam, wherein the target wheel is any wheel of the plurality of wheels.

[0121] Further, since the embodiment of the present application can determine any wheel of the plurality of wheels as the fulcrum in the spot turning process, the flexibility of the vehicle spot turning is effectively improved, so that the vehicle spot turning is more convenient and controllable.

[0122] The embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the vehicle spot turning control method shown in the above embodiment. For example, the vehicle spot turning control method shown in FIG. 1 or FIG. 2.

[0123] FIG. 14 is a structural schematic diagram of a vehicle controller according to an embodiment of the present application. As shown in FIG. 14, the vehicle controller 140 includes a memory 1401, a processor 1402, and a computer program stored in the memory 1401 and executable on the processor 1402. When the processor 1402 executes the computer program, the vehicle spot turning control method shown in the above embodiment is implemented. For example, the vehicle spot turning control method shown in FIG. 1 or FIG. 2.

[0124] FIG. 16 is a block diagram of a vehicle spot turning control device according to an embodiment of the present application. As shown in FIG. 16, the device includes:

[0125] The control module 1601 is configured to control the vehicle to perform spot turning with a target wheel as a fulcrum in response to a spot turning instruction, wherein the target wheel is any wheel of the plurality of wheels.

[0126] Optionally, the control module 1602 can be configured to:

[0127] Before controlling the vehicle to perform spot turning with the target wheel as the fulcrum, the control module 1601 is configured to lock the target wheel in response to a selection instruction for the target wheel of the plurality of wheels.

[0128] Optionally, the control module 1602 can be configured to:

[0129] Before controlling the vehicle to perform spot turning with the target wheel as the fulcrum, the control module 1601 is configured to lock the target wheel in response to a selection instruction for the target wheel of the plurality of wheels.

[0130] Optionally, before the vehicle meets the spot turning condition, the vehicle is in a stationary state.

[0131] Optionally, the spot turning condition includes:

[0132] The gear of the vehicle is in D or R, the steering wheel angle is greater than or equal to an angle threshold, the vehicle speed is in a vehicle speed range, and the depth of the accelerator pedal of the vehicle is greater than or equal to a first preset depth.

[0133] Optionally, the target wheel is a target front wheel of the first front wheel and the second front wheel. The control module 1601 can be configured to:

[0134] control the first rear wheel and the second rear wheel to deflect in opposite directions, respectively;

[0135] drive the wheels other than the target wheel in the plurality of wheels to pivot in place with the target wheel as a fulcrum;

[0136] The deflection direction of the first rear wheel is the same as the steering direction of the steering wheel, and the first rear wheel and the target wheel are located on the same side of the vehicle.

[0137] Optionally, during the driving of the wheels other than the target wheel in the plurality of wheels to pivot in place, the rotation direction of the front wheel is the same as the rotation direction of the second rear wheel, and the rotation direction of the second rear wheel is opposite to the rotation direction of the first rear wheel.

[0138] The front wheel is a wheel other than the target front wheel of the first front wheel and the second front wheel.

[0139] Optionally, the deflection angles of the first rear wheel and the second rear wheel are maximum deflection angles of the rear wheels.

[0140] Optionally, the target wheel is a target rear wheel of the first rear wheel and the second rear wheel. The control module 1601 can be configured to:

[0141] control a reference rear wheel to deflect in a direction opposite to the steering direction of the steering wheel, the reference rear wheel being a wheel other than the target rear wheel of the first rear wheel and the second rear wheel;

[0142] drive the wheels other than the target wheel in the plurality of wheels to pivot in place with the target wheel as a fulcrum.

[0143] Optionally, during the driving of the wheels other than the target wheel in the plurality of wheels to pivot in place, the rotation directions of the two front wheels and the rotation direction of the reference rear wheel are the same.

[0144] Optionally, the deflection angle of the reference rear wheel is a maximum deflection angle of the rear wheels.

[0145] Optionally, the control module 1601 can be configured to:

[0146] control the vehicle to pause the pivoting in place when it is determined that the vehicle meets a pause pivoting in place condition.

[0147] Optionally, the pause pivoting in place condition includes one or more of the following:

[0148] The steering wheel angle is less than an angle threshold, and a depth of a brake pedal of the vehicle is greater than or equal to a second preset depth.

[0149] Optionally, the control module 1601 can be configured to:

[0150] In a case where it is determined that the vehicle meets the exit condition for the original position turning, the vehicle is controlled to exit the original position turning.

[0151] Optionally, the exit condition for the original position turning includes one or more of the following:

[0152] The vehicle speed is out of a vehicle speed range, a gear of the vehicle is out of a D gear or an R gear, a device for controlling the vehicle to turn in the original position is faulty, or a turning exit instruction is received.

[0153] In summary, the embodiment of the present application provides a vehicle original position turning control device, which can control the vehicle to turn in the original position with a target wheel as a fulcrum in response to an original position turning instruction, so as to control the vehicle to turn in the original position, and avoid vehicle congestion by turning in the original position in a case where traffic jam occurs. The target wheel is any one of a plurality of wheels.

[0154] Further, since the embodiment of the present application can determine any one of a plurality of wheels as a fulcrum in the original position turning process, the flexibility of the vehicle original position turning is effectively improved, so that the vehicle original position turning is more convenient and controllable.

[0155] The embodiment of the present application provides a vehicle, which includes the vehicle controller or the vehicle original position turning control device described above.

[0156] It is to be appreciated that the above description and the examples that follow are intended to be illustrative only and that changes can be made to the description and examples without departing from the scope of the application. Note also that the use of particular brand names in the description is solely for illustration and should not be construed as an endorsement of such brands.

[0157] It should be understood that aspects of the application can be implemented in hardware, software, firmware or a combination thereof. In the above embodiments, various steps or methods can be implemented in software or firmware that is stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any of the following techniques, which are well known in the art of hardware implementation, can be used: a hybrid of the above techniques, a mixture of two or more of the above techniques, or a combination of the above techniques with other techniques not listed above.

[0158] In the description of the present application, reference has been made to the use of terms such as "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" means that a particular feature, structure, material or characteristic is included in at least one embodiment or example of the present application. The illustrative examples given are not necessarily to be construed as preferred or advantageous or with the exclusion of other equally valid examples that can be particularly adapted to a specific application. Moreover, the description of a particular feature, structure, material or characteristic within an illustrative example does not imply that the same feature, structure, material or characteristic is essential to all embodiments or examples of the application.

[0159] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0160] In addition, the terms "first", "second", and the like used in the embodiments of the present application are only for the purpose of description, and cannot be understood as indicating or implying relative importance, or implicitly indicating the number of technical features referred to in the embodiments. Therefore, the features defined with "first", "second" and the like in the embodiments of the present application can be explicitly or implicitly indicated to include at least one of the features. In the description of the present application, the meaning of the word "plurality" is at least two or two or more, such as two, three, four, etc., unless otherwise specifically limited in the embodiments.

[0161] In the present application, unless otherwise specifically provided or limited in the embodiments, the terms "mounting", "connecting", "connecting" and "fixing" and the like appearing in the embodiments should be understood broadly, for example, the connection can be fixed connection, or detachable connection, or integral, which can be understood, or can be mechanical connection, electrical connection, etc. Of course, it can also be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements, or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific implementation situation.

[0162] In the present application, unless otherwise specifically provided and limited, the first feature "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" of the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" of the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0163] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and that changes, modifications, substitutions and variations can be made by those skilled in the art without departing from the scope of the present application.

Claims

1. A method for controlling vehicle steering in place, the method comprising: In response to a stationary turn command, control the vehicle to turn in place with the target wheel as the pivot point; The target wheel can be any one of a plurality of wheels.

2. The method according to claim 1, wherein before the controlled vehicle performs a stationary turn with the target wheel as a fulcrum, the method further comprises: In response to a selection command for a target wheel among a plurality of said wheels, the target wheel is locked.

3. The method of claim 2, wherein locking the target wheel in response to a selection command for a target wheel among a plurality of wheels comprises: If the vehicle passes the self-test, the target wheel is locked in response to a selection command for the target wheel among the plurality of wheels.

4. The method according to claim 1, wherein controlling the vehicle to perform in-situ steering with the target wheel as a fulcrum includes: When the vehicle meets the conditions for turning in place, control the vehicle to turn in place with the target wheel as the fulcrum.

5. The method according to claim 4, wherein the vehicle is stationary before the vehicle is controlled to meet the conditions for turning in place.

6. The method according to claim 4, wherein the in-situ turning condition includes: The vehicle is in D or R gear, the steering wheel angle is greater than or equal to an angle threshold, the vehicle speed is within the vehicle speed range, and the depth of the accelerator pedal is greater than or equal to a first preset depth.

7. The method according to any one of claims 1 to 6, wherein the target wheel is a target front wheel among the first front wheel and the second front wheel; the method of controlling the vehicle to perform in-situ steering with the target wheel as a fulcrum includes: Control the first and second rear wheels to deflect in opposite directions respectively; Using the target wheel as a fulcrum, drive the wheels other than the target wheel among the multiple wheels to turn in place; Wherein, the first rear wheel deflects in the same direction as the steering wheel, and the first rear wheel and the target wheel are located on the same side of the vehicle.

8. The method according to claim 7, wherein during the process of driving the wheels other than the target wheel among the plurality of wheels to turn in place, the rotation direction of the reference front wheel is the same as the rotation direction of the second rear wheel, and the rotation direction of the second rear wheel is opposite to the rotation direction of the first rear wheel; in, The reference front wheel is one of the first and second front wheels, excluding the target front wheel.

9. The method according to claim 7 or 8, wherein the deflection angle of the first rear wheel and the second rear wheel is the maximum deflection angle of the rear wheel.

10. The method according to any one of claims 1 to 6, wherein the target wheel is a target rear wheel among the first rear wheel and the second rear wheel; the method of controlling the vehicle to perform in-situ steering with the target wheel as a fulcrum includes: The reference rear wheel is controlled to deflect in the opposite direction to the steering wheel, wherein the reference rear wheel is one of the first rear wheel and the second rear wheel other than the target rear wheel; Using the target wheel as a fulcrum, drive the other wheels among the multiple wheels to turn in place.

11. The method according to claim 10, wherein during the process of driving the wheels other than the target wheel among the plurality of wheels to turn in place, the rotation directions of the two front wheels and the rotation direction of the reference rear wheel are the same.

12. The method according to claim 10 or 11, wherein the deflection angle of the reference rear wheel is the maximum deflection angle of the rear wheel.

13. The method according to any one of claims 1 to 12, further comprising: If the vehicle meets the conditions for pausing stationary steering, control the vehicle to pause stationary steering.

14. The method of claim 13, wherein the conditions for pausing the stationary turning include one or more of the following: The steering wheel angle is less than an angle threshold, and the depth of the vehicle's brake pedal is greater than or equal to a second preset depth.

15. The method according to any one of claims 1 to 12, further comprising: If the vehicle meets the conditions for exiting stationary steering, control the vehicle to exit stationary steering.

16. The method of claim 15, wherein the exit condition for turning in place includes one or more of the following: The vehicle speed is outside the vehicle speed range, the vehicle is in a gear other than D or R, the device controlling the vehicle to turn in place malfunctions, or a steering exit command is received.

17. A computer-readable storage medium having a computer program stored thereon, the computer program, when executed by a processor, implementing the vehicle stationary steering control method according to any one of claims 1 to 16.

18. A vehicle controller, comprising: The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the vehicle stationary steering control method according to any one of claims 1 to 16.

19. A vehicle comprising: The vehicle controller as claimed in claim 18.

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